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中文摘要：
基于李群理论,提出了双驱动两移动三转动（2T3R）五自由度并联机构型综合的方法,应用该方法综合了2T3R五自由度双驱动并联机,得到了一类新型的双驱动五自由度并联机构。对一种新型机构,运用李群理论进行自由度的计算,运用单开链法进行主动副的选取,结果表明所提出的型综合方法正确可行。
英文摘要：
Based on Lie group theory a systematic approach for type synthesis of dual-driven 5-DOF parallel mechanism was proposed.By using the proposed method,a family of dual-driven 5-DOF parallel mechanism with two-translation and three-rotation was synthesized,some new dual-driven 5-DOF parallel mechanisms were obtained.Finally,the calculation of DOF and the selection of active pairs for a novel parallel mechanism were performed,and the result shows that the method of type synthesis proposed herein is correct and feasible.
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A new method for the determination of the zero velocity region of the Karnopp model based on the sta
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