ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

According to the topological design method of parallel mechanism based on position and orientation characteristics (POC) equation and the principle of motion decoupling, a three-translation parallel mechanism(PM) with single loop and full motion decoupling was proposed and analyzed. On the basis of this single-loop PM, a third branch chain was added, and then a class of four three-translation (3T) parallel mechanisms with symbolic forward position solutions and partial motion decoupling as well as large working space was designed. Their topological characteristics were analyzed, and the main topological characteristics such as POC, degree of freedom (DOF), coupling degree (κ) and motion decoupling property were obtained. The kinematics and dynamics performance of one of the PMs were analyzed, including the symbolic forward and inverse position solutions according to the principle of kinematic modeling based on topological characteristics. The velocity and acceleration curves were also obtained. Based on the derived Jacobian matrix, the conditions of mechanism singularity were analyzed. According to the deduced inverse position solution formula, the workspace of the PM was analyzed. According to the virtual work principle based on sequence single-open-chains, the dynamic modeling and analysis were carried out to solve the driving force of the PM. The correctness of the dynamic equation was verified by Matlab numerical calculation and ADAMS simulation.The three-translation PMs can be used in industrial space grasping, machining, three-dimensional error compensation and so on.