The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
基于次铰全自由度表达模型，推导闭链加速度约束等式；
The interference problem which will be involved in calculating six DOF parallel robot's workspace is studied.
研究了求解六自由度并联机器人的活动空间时所涉及的干涉问题。
This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot.
本文主要阐述了六自由度机械手本体的总体构成及其具体的结构设计，并对机械手单关节位置伺服系统进行了研究。
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