一种可用于微创手术的并联机构运动学分析与性能优化

叶伟, 谢镇涛, 李秦川

Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery

YE Wei, XIE Zhentao, LI Qinchuan

机械工程学报 . 2020, (19): 103 -112 . DOI: 10.3901/JME.2020.19.103