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习近平强势否决中共元老的集体露面，进一步印证江泽民及江派退休常委处境不妙。

It was examined over the fracture reduction of ten bovine femurs. The same hexapod system was intended and experimented for fracture reduction of longitudinal bones [yabo sports ]。他们还开发了一个程序three d侦察structing of versions from DICOM-structure CT photos to Enhance the accuracy of surgical treatment. 10 experiments working with This technique on bovine femoral fractures are actually performed. As outcomes, This technique can provide simultaneous rotations and translations in all Instructions and it lets economical and precise fracture reduction. A detachable hybrid mechanism for lengthy bone fracture reduction has long been created [yabo sports ]。该机构具有两个单元：基于六自由度Stewart平台和一个定影单元中的一个减速单元。骨折均附着到定影单元的两个部分。然后将它们连接到所述减速单元的两个平台。定影单元的两个平台之间的相对运动是由六个液压支腿控制。在2017年，有三个腿长骨骨折复位新的six自由度并联机器人已经提出[yabo sports ]。Every[RP腿配备一个棱柱形致动器和一个旋转致动器。此结构具有相比于公知的six个棱柱腿Stewart平台大得多灵巧和旋转的工作区。

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In this section, the workspace in the proposed system is offered. There are actually various methods for calculating the workspace or boundaries of a mechanism including working with analytical, geometrical or numerical techniques. This study takes advantage of a numerical method for identifying the workspace boundaries on the hybrid planar-tripod system manipulator. Because the Beforehand outlined, this hybrid mechanism is made of just one planar and just one tripod mechanism, Hence the workspace Evaluation of the whole mechanism can be divided into two different scientific studies. Therefore, the workspace with the system is revealed in two diverse coordinate programs: (x，y，γ）和（α，β，z），其分别与所述平面和三脚架的机制相关联。一系列的平移运动的（x，y，z）和the orientation angles (α，β，γ）被离散成具有所希望的分辨率的采样点。对于每一个点，需要两个步骤。首先，相应的机构的输入变量（q1，…,q6) are calculated utilizing the inverse kinematics design offered by equationsyabo sports 一个ñdyabo sports 。随后，q一世values are checked to ensure They're within the stroke array boundaries specified by [q一世米一世ñ;q一世米一个x]。其次，如果采样点被认为是工作空间内，那么它需要确定是否所有被动关节包括转动关节Çķ和球形接头dķ，是他们的限度内。的单位向量垂直于MP1和沿着所述球形接头的轴分别表示为ñrk一个ñdñsk（ķ = one, two, three). Then the constraints equations of revolute joints Cķ和球形接头dķC一个ñbe expressed as:

This 3-RPS parallel system was launched by Hunt in 1983 [yabo sports ]。What's more, it has two platforms; just one is considered as The bottom and 1 is usually a cellular System that may be manipulated with two angular DoF and a single linear DoF. Both equally platforms are linked alongside one another with the three RP腿。每个腿由被动转动关节和所述移动平台的无源球形接头连接到固定平台。这两个被动关节是有源棱柱接头相连。三个RP三脚架的腿被布置为等腰三角形。这种架构的配置已被选定，为了抑制在一个轴上的寄生运动。通过串联连接这两个三自由度机制，混合并联并联机器人与总共六个自由度的创建：三个线性和三个角。与知名Stewart平台相比，该机器人具有简单的运动和控制设计。在Stewart平台的一个主要优点是它能够产生纵向旋转的更大的范围，这将改善骨复位手术的实践能力。

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此事件发生在中共领袖毛泽东发动的文化大革命期间，林彪这位曾为中共建政立下汗马功劳的军事将领，是毛泽东的亲密战友、党的副统帅，党章中明文规定的"接班人"，一夜之间成了"叛国贼"。毛泽东自己选定的接班人以叛逃和死亡收场， "在客观上宣告了‘文化大革命’的理论和实践的失败"， 也彻底击碎了毛泽东发动文化大革命的激情。

如果值φrk一个ñdφsk一个re suitable for constraints presented by equationyabo sports ，则被动关节的是其容许范围内。这意味着考虑点是通过该机制可到达。为了研究与骨缩小手术所提出的混合平面三角架机构的适用性，它的工作区相比Stewart平台这在医学应用中最常用的体系结构。为了确保公平的比较，Stewart平台和混合机构被设置具有相同的一般尺寸在所示yabo sports 。它们的输入变量范围的运动也被类似地调节。相关联的参数显示在yabo sports 。

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