4-RRS冗余球面并联机构的静力学与刚度分析

4-RRS冗余球面并联机构的静力学与刚度分析

曲海波，梁艺瀚，方跃法，周益林

Statics and Stiffness Analysis of 4-RRS Redundant Spherical Parallel Mechanism

QU Haibo,LIANG Yihan,FANG Yuefa,ZHOU Yilin

机械工程学报 . 2015, (11): 8 -15 . DOI: 10.3901/JME.2015.11.008