采用复合形法对多连杆机构进行了优化设计，并对拉延压力机工作机构的机构优化参数进行了计算。
Based on the above analysis, the kinematical analysis and optimization design of multi-linkage of press operating mechanism are studied in this paper.
本文提出了多环空间连杆机构摆动力完全平衡的单位向量法。
This article presents the unit vector method for the full shaking force balancing of multi-loop spatial linkages.
讨论了多连杆柔性机械手末端位置的控制问题。
Tip position control of flexible multi link manipulators is discussed.
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