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 static performance of a new type of serialparallel hybrid bionic leg mechanism was analyzed. The bionic mechanical leg structure was composed of a 2DOF planar parallel mechanism and an RPR mechanism in series,，which had the characteristics of large carrying capacity and fast walking. Firstly, the leg structure layout of the bionic robot was introduced, and the kinematics model of 2DOF planar mechanism was established. According to the kinematic model, the static transfer model of 2DOF parallel mechanism was established by using the virtual work principle. Secondly, the static bearing capacity performance evaluation index performance evaluation index and the force input equilibrium performance index were established by the vector extremum method, the distribution diagram of these two indexes in the working space was plotted, and the distribution law of these two indexes in the working space was analyzed. The analysis results showed that the static bearing capacity and moment equilibrium performance of 2DOF parallel plane parallel mechanism were distributed symmetrically. The performance index of mechanical bearing capacity was maximum at the bottom of working space, and was decreased gradually upward, and then it was minimum at the top. The torque balance performance index was better in the middle part of the working space. The worse the performance index was closing to the boundary, the worse it was for the mechanism. Finally, the correctness of the static analysis of performance was verified by some examples and simulations, which provided a reference for the trajectory planning of the serialparallel hybrid mechanical leg.