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本文用实数四元数变换分析球面四杆、六杆机构的角位移,计算各构件的角速度和角加速度以及各构件上点的轨迹坐标。
In this paper, the real quaternion transform analysis of spherical four-bar, six-bar angular displacement, calculate the angular velocity and angular acceleration of each component as well as the trajectory coordinates of each component point.