考虑间隙的空间圆柱铰多体系统运动学精度及动力学分析

刘太素，钱林方，尹强

Kinematics Accuracy and Dynamic Analysis of multi-body system with Spatial cylindrical clearance joint

LIU Tai-su,QIAN Lin-fang,YIN Qiang

振动与冲击 . 2017, (19): 151 -157 .