这个简单的应用程序的目的是为了控制间接触压力的车轮和罐壁当车轮滚滚沿表面.系列双驱动棱镜关节支撑身体含有分B1,B2.这身体是连接到一个轮子和B1C两个柔顺连接器(B2C).致动器驱动机械手的身体与纯运动结束在i和j方向来维持理想的接触力之间的车轮和环境和移动车轮沿表面如指定.这可以完成了顺从的礼仪这两个连接器(弹簧常量和自由长度)及变形值的机制(θ1和θ2).在一个变化之间的关系andδd2致动器的位置(δd1)的转变以及接触力可分析确定.
英语翻译The objective of this simple application is to control t
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