lembert meaning in Chinese

朗贝尔
伦贝特
伦伯特

First , the jacobian matrix of the system is derived from a kinematics analysis . then the dynamic equations for each part are deduced using the newton - euler method . at last the driving forces of the active joints are calculated , by using the principle of d ’ a lembert
本文对6 - prrs并联机器人的动力学进行了分析,分别计算了各个构件的雅可比矩阵,得出了114阶的系统雅可比矩阵;然后利用牛顿-欧拉法详细推导了6 - prrs并联机器人的动力学方程,结合d ’ alembert原理求出了6个主动关节的驱动力。