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
图4 电机的速度-时间梯形曲线
Fig.4 Trapezoidal speed-time curve of motor