该研究工作为高轴向刚度三轴转动柔性铰的开发与设计提供了一种有效的方法。
The research works provided a kind of effective method for the development and design of 3 axle rotary flexible hinge with high axial rigidity.
介绍了三种以气动肌腱为驱动的铰杆式增力机构，并给出了相应的输出力计算公式。
Three kinds of hinge rod typed force amplification mechanism, which takes pneumatic muscle as the driver, were introduced, and the corresponding calculation formulae of force output were given out.
通过无铰拱、双铰拱、三铰拱的体系对比分析，讨论分析了拱自身连接条件对结构受力形态的影响；
Through comparative study of hingeless arch bridge , two-hinged arch bridge and three-hinged arch bridge, the influence of connection condition of arch on mechanical condition is discussed.
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