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

Aiming at the demand of intelligent agricultural robots for a wider range of machine vision, a solution of parallel vision table for agricultural robot was introduced. Based on the input and output characteristics of the double rocker mechanism, a new design method of kinematic chain was presented, which can be used to design a decoupled 2DOF parallel mechanism with a fully spherical workspace. Two feasible kinematic chains were derived, i.e. P5R and PRR. Two decoupled 2DOF parallel vision table with a fully spherical workspace were designed based on the above kinematic chains, i.e. RR&P5R and RR&PRR. The displacement relationship of the two mechanisms were established respectively through kinematics analysis. The optimal length ratio of the members of the two mechanisms were obtained respectively through the size optimization. After comparison, the RR&P5R parallel vision table had the better input and output performance. Through statics analysis, the restraining force at each hinge was obtained. Through finite element simulation, the influence of load on the motion accuracy of RR&P5R parallel vision table was analyzed. The result showed that the strength of RR&P5R mechanism met the requirements. However, the displacement deviation of revolute joints of RR&P5R mechanism was large, which was caused by the cumulative elastic deformation of members. 