The motion control of the hexapod parallelmechanism with high speed and high acceleration depends on the accurate dynamics model, proper simplification and real-time computing.
As an example, a planar five bars 2-dof parallelmechanism is discussed, the working space is drawn and the motion and force manipulation singularity are analyzed.
以平面五杆2 - DOF并联机构为例进行了机构工作空间分析、运动奇异位形分析、以及力奇异位形分析。
3
The flapping mechanism adopts a parallel quadrilateral connecting rod mechanism to lead the tail fin of the robotic fish arranged on a tail fin frame to make periodic translational motion.