双并联机构耦合连续体机械臂的设计与实现
吴灌伦, 施光林
Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism
WU Guanlun, SHI Guanglin
表1
约束盘与杆的设计参数
Tab.1
Design parameters of constraint disks and rods
j
ρ
j
/ mm
θ
j
,
i
/(°)
1
50
90, 330, 210, 270, 30, 150
2
50
90, 330, 210, 270, 30, 150
3
45
90, 330, 210, 270, 30, 150
4
40
90, 330, 210, 270, 30, 150
5
35
270, 30, 150
6
30
270, 30, 150