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

Because of parallel mechanism has high rigidity, high speed, high carrying capacity, and not cumulative error, etc., it has been widely used in many fields. Especially less degrees of freedom parallel mechanism has become a hot research topic. The inverse and forward position model of Tripod parallel robot was established, through kinematic analysis of the Tripod parallel robot, the degree of freedom was derived. The inverse kinematics and forward kinematics were solved by using algebraic vector method and numerical method. The condition number of Jacobian matrix was derived and the workspace was analyzed. The calculation result showed that the mechanism owned perfect isotropic properties and specious workspace. ADAMS and Matlab kinematics simulation software were used to verify the inverse and forward position model of this mechanism. The simulation results proved the correctness of the model. A model machine of Tripod parallel robot was developed and a series of experiments, such as accurate positioning, line/circle interpolation, continuous interpolation, were carried out. The results suggested that the mathematical model established for this parallel mechanism was correct. The research systemically solved the problem of theoretical analysis of Tripod parallel robot, set up the experimental prototype, and provided strong guidance for the engineering application.