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

The parallel mechanisms with analytical direct position solutions and partial motion decoupling are of great benefits to subsequent research such as error analysis, motion trajectory planning and control, dynamic performance analysis. According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, a novel threetranslation (3T) PM was designed, which consisted of prismatic joints and revolute joints, and had the advantages of analytical direct position solutions and partial motion decoupling property and larger workspace. Firstly, the main topological characteristics such as the POC, degree of freedom and coupling degree were calculated. Due to the special constraint feature of the threetranslation, the analytical direct position solutions of the PM can be directly obtained without needing to use onedimensional search method although its coupling degree equaled to one. Furthermore, the conditions of the singular configuration of the PM, and the singularity location in the workspace were analyzed according to the inverse kinematics, as well as the velocity and acceleration of the PM were calculated and simulated. The results showed that the simulation curve was changed smoothly and continuously, and it had good dynamic performance. 