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 ρj/ mm θj,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