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四自由度行星变速机构方案性能规律研究
李慎龙, 毛明, 盖江涛, 刘树成
Study of Scheme Characteristics of 4-DOF Planetary Gear Transmission Mechanism
LI Shen-long, MAO Ming, GAI Jiang-tao, LIU Shu-cheng
兵工学报 . 2016, (10): 1770 -1777 .  DOI: 10.3969/j.issn.1000-1093.2016.10.002