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研究等顶锥角3自由度球面并联机构的全参数尺度解析综合方法。该方法考虑了灵活度各向同性条件和最优传力特性，得到满足这些性能指标的尺度参数封闭解答，在理论上严格证明了前人用数值积分法得到的同一结论。
Research and other top cone angle 3 degrees of freedom spherical parallel mechanism of the full parameter scale analytical synthesis method. The method takes into account the isotropic condition of flexibility and the optimal force transfer characteristics, and obtains the closed-form solution of the scale parameter which satisfies these performance indexes. The same conclusion obtained by numerical integral method of predecessors is theoretically proved.