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

A 5—CS rigid-body guidance linkage was proposed. A method to judge the defects of 5—CS linkage was proposed to solve the problems of defect judgment met in the process of rigid-body guidance design. Through calculating the Jacobian matrix’s determinant values of the given positions, it can be found out whether the signs of determinant values were changed at the given positions. If the signs were changed, the linkage had defects. If not, a curve tracking technique which based on Newton method was used to get the forward position solutions and then calculate the Jacobian matrix’s determinant values of the positions between the given positions. Based on the calculations, we can know whether there were positions which determinant values are zeros between the given positions. When the Jacobian matrix’s determinant value was zero, the linkage’s singular configuration occurred. According to the trajectory, we can clearly know whether the linkage has circuits or order defects. For solving the branch defect, the method of drives combinations was proposed. When the parameters of the linkage at a position were given, different Jacobian matrix’s determinant values can be got by selecting different drivers. So the branch defects can be avoided by changing the drive before the singular positions. Finally, a synthesis example was provided to illustrate the defect judgment process of 5—CS linkage.