用于微创手术的混联机器人机构设计与轨迹分层优化
张昕, 史东豪, 陈芝翰, 徐灵敏, 李秦川
Mechanism Design and Trajectory Layering Optimization of a Hybrid Robot for Minimally Invasive Surgery
ZHANG Xin, SHI Donghao, CHEN Zhihan, XU Lingmin, LI Qinchuan
机械工程学报
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2026, (11): 201
-214
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DOI: 10.3901/JME.260359
