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So that you can validate the inverse kinematics and velocity versions of the mechanism, a number of simulations have been completed. The strategy consists producing a movement with the system close effector provided with the functionsx（t),y（t),z（t),α（t),β（t）和γ（t）和Øbtaining the corresponding evolution of your input variablesq1toq6。输入变量的两组由两个不同的方法获得的：一种是通过实现机构输入变量到数值模拟软件Matlab的获得，而另一个通过实现机制引入运动学仿真软件亚当斯。将得到的输入变量基团然后进行比较。该平面三脚架氢化物的机制设计在亚当斯软件中所看到的yabo sports 一个。Its inverse kinematic and velocity designs are verified by making a six DoF movement of the MP2, as illustrated inyabo sports 湾

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该米一个一世ñ一个dvantage of the architecture would be that the motion of the two relocating platforms is usually dealt with independently when researching the kinematic and velocity models. But a selected focus needs to be provided the impact on the parasitic movement created with the tripod system.

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