quick formation and breaking

Based on the instantaneous structure manipulator assumption,the TPM master manipulator calculating model with complex parallel structure is presented.

本文采用瞬时结构假定方法 ,建立了具有复杂空间并联机构的TPM手控器计算模型 。

In this paper, the instantaneous structure manipulator assumption was used, the dynamic performance of manipulator with local closed chain were analyzed, it is useful to the high accurate manipulator design.

用瞬时结构假定方法对带有局部闭链机器人手控器进行了动态特性分析 ,为高精度的手控器设计提供了理论依据。