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A Dynamics Analysis of the Five-Degree-of-Freedom Industrial Robot with Parallal Linkage

Dou Xiaohong Xu Youheng Jiang Zhengqu  
In this paper,the dynamics problem of the industrial robot witha partially-closed kinematic chain is discussed by using the transformationmatrix(4×4)and Gauss' principle of minimal Compulsion.The originalmechanisnm of the closed chain is transformed into several open chains.Anexample of the five-degree-of-freedom industrial robot with parallal linkageis analysed.
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