[1] [1] HOU Y L, HU X ZH, ZENG D X, et al.. Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism［J］. Chinese Mechanical Engineering Society, 2015, 1(28): 29-37.

[2] [2] ZHANG J ZH, JIN ZH L, ZHANG ZH. Kinematics analysis and configuration selection of whole machine of hexapod robot［J］. Opt. Precision Eng., 2017, 25(07): 1832-1842.(in Chinese)

[3] [3] HUANG ZH, ZHAO Y SH, ZHAO T SH. Advanced Spatial Mechanism［M］. Beijing: Higher Education Press, 2006: 159-336.(in Chinese)

[4] [4] ZHAO L, LIANG CH, ZHANG D F, et al.. Forward kinematics of 3-RRR flexure parallel mechanism used in lens micro-adjustment［J］. Opt. Precision Eng., 2016, 24(06): 1373-1381.(in Chinese)

[5] [5] JIN ZH L, LI Y B. Kinematic transmission property of a novel 3 P-2SS spherical platform manipulator［J］. Opt. Precision Eng., 2006,14(04): 658-661.(in Chinese)

[6] [6] DANAEI B, ARIAN A, MASOULEH M T, et al.. Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism［J］. Multibody System Dynamics, 2017(4): 1-24.

[7] [7] LI Y B, JIN ZH L. Analysis and design of input torque of spherical 3-DOF manipulator［J］. Opt. Precision Eng., 2007 ,15(05): 730-734.(in Chinese)

[8] [8] LIU SH Z. Dynamics of Lower-Mobility Parallel Manipulators［M］. Beijing: Science Press, 2015: 77-116.(in Chinese)

[9] [9] ZHENG Y L, GUO W D, XIE Y. Dynamic Modeling of Spherical 5R Parallel Mechanism for Spherical Plain Bearing Running-in Equipment［C］.Mechanism and Machine Science. Springer Singapore, 2017.

[10] [10] XIN G Y, DENG H, ZHONG G L. Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle［J］. Nonlinear Dynamics. 2016, 86(2): 1329-1347.

[11] [11] BAI ZH F, HAN X G, CHEN W Y. Study of a 3-DOF parallel manipulator dynamics based on Lagrange’s equation［J］. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(1): 51-54.(in Chinese)

[12] [12] CHEN B, ZONG G H, YU J J, et al.. Dynamic Modeling and Analysis of 2-DOF Quasi-sphere Parallel Platform［J］. Journal of Mechanical Engineering, 2013, 49(13): 24-31.(in Chinese)

[13] [13] SHAN X L, CHENG G. Explicit dynamic modeling of a 3SPS+1PS parallel manipulator with joint friction［J］. Journal of Mechanical Engineering, 2017, 53(01): 28-35.(in Chinese)

[14] [14] HUANG T, LIU S, MEI J, et al.. Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints［J］. Mechanism and Machine Theory, 2013, 70(6): 246-253.

[15] [15] CHEN X L, DONG F Q, WANG Q. Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach［J］. Opt. Precision Eng., 2015, 23(11): 3129-3137.(in Chinese)

[16] [16] ZHANG B B, WANG L P, WU J. Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator［J］. Journal of Tsinghua University (Science and Technology), 2017, 57(8): 803-809.(in Chinese)

[17] [17] YANG J X, YU Y Q, DU ZH C. Dynamic modeling method of parallel robot with hybrid chains［J］. Journal of Mechanical Engineering, 2009, 45(1): 77-82.(in Chinese)

[18] [18] LU Y, YE N J, WANG P. Dynamics analysis of 3-leg 6-DoF parallel manipulator with multi different-DOF finger mechanisms［J］. Journal of Mechanical Science and Technology, 2016, 30(3): 1333-1342.

[19] [19] WANG H B, SANG L F, HU X, et al.. Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism［J］. Chinese Journal of Mechanical Engineering, 2013, 26(5): 881-891.

[20] [20] LU L, YAO J T, HU W D, et al. Dynamics analysis of 5UPS/PRPU parallel machine tool with redundant actuation based on Kane equation［J］. Transactions of the Chinese Society for Agricultural Machinery, 2016, 47(06): 366-372.(in Chinese)

[21] [21] CHENG G, SHAN X L. Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T)［J］. Nonlinear Dynamics, 2012, 70(4): 2475-2486.

[22] [22] XU G L. Design and analysis of a quadruped walking robot with parallel leg mechanisms for the elderly and the disabled［D］. Qinhuangdao: Yanshan University, 2010: 39-53.(in Chinese)

[23] [23] LIU Y CH, YU Y Q, ZHANG X P. Dynamic planning of redundant flexible cooperative robots［J］. China Mechanical Engineering, 2005,16(10): 847-851.(in Chinese)

[24] [24] ZHANG CH X, YU Y Q. Coordination of flexible manipulators cooperation［J］. China Mechanical Engineering, 2003, 14(02): 57-60.(in Chinese)

[25] [25] WANG M N, SUN L N, MENG Q X. Dynamics model and optimized energy distribution of amphibian crab-liked robot［J］. Journal of Harbin Institute of Technology, 2006, 38(2): 173-176.(in Chinese)