<div> 球面二自由度冗余驱动并联机器人可达工作空间的分析 </div>

张立杰, 牛跃伟, 李永泉

Research on Workspace of a Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

ZHANG Li-Jie, NIU Ti-Wei, LI Yong-Quan

J4 . 2009, (24): 2974 -2978 .