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首次用ＫＥＤ方法建立了平面并联机器人的弹性动力学方程，由此方程可以求解腿部各节点的弹性运动和平台的输出运动误差
For the first time, the KED method was used to establish the elastic dynamics of a planar parallel robot. This equation can solve the elastic movement of each node in the leg and the output movement error of the platform