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[1] Genliang Chen, Zhuang Zhang, Hao Wang, Analysis and validation of a flexible planar two degree-of-freedom parallel manipulator with structural passive compliance, ASME Journal of Mechanisms and Robotics, 12(1): 011011 (10 pages), 2020.
[2] Genliang Chen, Jiepeng Wang, Hao Wang, A new type of planar 2-DOF remote center-of-motion mechanisms inspired by the Peaucellier-Lipkin straight-line linkage, ASME Journal of Mechanical Design, 141(1): 015001, 2019.
[3] Genliang Chen, Weidong Yu, Hao Wang, Jiepeng Wang, Design and kinematic analysis of a spherical parallel manipulator using concurrent planar parallelogram linkages, Journal of Mechanical Engineering Science, 233(7), 2491-2501, 2019.
[4] Genliang Chen, Lingyu Kong, Qinchuan Li, Hao Wang, A simple two-step geometric approach for the kinematic calibration of the 3-PRS parallel manipulator, Robotica, 37(5), 837-850, 2019.
[5] Jue Yu, Yong Zhao, Genliang Chen, et al., Realizing controllable physical interaction based on an electromagnetic variable stiffness joint, ASME Journal of Mechanisms and Robotics, 11(5): 054501 (8 pages), 2019
[6] Genliang Chen, Zhuang Zhang, Hao Wang, A general approach to the large deflection problems of spatial flexible rods using principal axes decomposition of compliance matrices, ASME Journal of Mechanisms and Robotics, 10(3): 031012, 2018.
[7] Genliang Chen, Hao Wang, Zhongqin Lin, Xinmin Lai, Identification of canonical basis of screw systems using general-special decomposition, ASME Journal of Mechanisms and Robotics, 10(3): 034501, 2018.
[8] Genliang Chen, Lingyu Kong, Qinchuan Li, Hao Wang, Zhongqin Lin, Complete, minimal and continuous error models for the kinematic calibration of parallel manipulators based on POE formula, Mechanism and Machine Theory, 121: 844-856, 2018.
[9] Lingyu Kong, Genliang Chen, Zhuang Zhang, Hao Wang, Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF par-allel manipulator, Robotics and Computer-Integrated Manufacturing, 49: 388-397, 2018.
[10] Weidong Yu, Hao Wang, Genliang Chen, Longhai Zhao, Design of a spatial translational mechanism by optimizing spatial ground structures and its kinematic analysis, ASME Jour-nal of Mechanical Design, 140(8), 082304 (15 pages), 2018.
[11] Weidong Yu, Hao Wang, Genliang Chen, Design and kinematic analysis of a 3-translational-DOF spatial parallel mechanism based on polyhedral, Mechanism and Ma-chine Theory, 121: 92-115, 2018.
[12] Longhai Zhao, Hao Wang, Genliang Chen, et al., Sequentially assembled reconfigurable extended joints: a self-lockable deployable structure, Journal of Aerospace Engineering, 31(6): 04018103, 2018.
[13] Yu H, Zhao C, Zheng B, Wang H Compliant assembly variation analysis of thin-walled structures based on the absolute nodal coordinate formulation Assembly Automation, 2018 38(2):125-141
[14] Wang H, Zhang L, Chen G, et al. Parameter optimization of heavy-load parallel manipulator by introducing stiffness distribution evaluation index Mechanism and Machine Theory, 2017, 108:244-259
[15] Wang H, Yu W, Chen G. An approach of topology optimization of multi-rigid-body mechanism. Computer-Aided Design, 2017, 84: 39-55
[16]. Chen G*, Yu W, Li Q, Wang H Dynamic modeling and performance analysis of the 3-PRRU IT2R parallel manipulator without parasitic motion. Nonlinear Dynamics, 2017,90(1):339-353
[17] Chen G. Yu W, Chen C, Wang H*, Lin Z. A new approach for the identification of reciprocal screw systems and its application to the kinematics analysis of limited-DOF parallel manipulators. Mechanism and Machine Theory, 2017, 118: 194-218
[18] Zhao Y*, Yu J, Wang H, et al. Design of an electromagnetic prismatic joint with variable stiffness. Industrial Robot, 2017, 44(2): 222-230
[19] Yu J, Zhao Y*, Wang H, et al. Tolerance analysis of mechanical assemblies based on the product of exponentials formula. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2017: 0954405417703425
[20] Yu H*, Zhang J, Wang H., Dynamic performance of over-constrained planar mechanisms with multiple revolute clearance joints. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanica1 Science, 2017:0954406217738032
[21] Zhao C, Yu H, Zheng B, Wang H, New stiffened plate elements based on the absolute nodal
coordinate formulation. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2017, 231(1): 213-229
24. Zhao Y*, Pan H, Wang H, et al. Dynamics research on grouping characteristics of a shield
tunneling machine's thrust system. Automation in Construction, 2017, 76: 97-107
25. Kong Q, Yu Z*, Zhao Y, Wang H, Lin Z. Theoretical prediction of flange wrinkling in first-
Pass conventional spinning of hemispherical part. Journal of Materials Processing Technology, 2017, 246:56-68
26. Yu J. Zhao Y*, Wang H, et al. The best-approximate realization of a spatial stiffness matrix with simple springs connected in parallel. Mechanism and Machine Theory, 2016, 103: 236-249
27. Yu H, Zhao C, Wang H, et al. Experimental and numerical analysis on load-sharing behavior of gear set with simultaneously actuated pinions. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 230(78):1198-1208
28. Wang H*, Kong L, Chen G, et al. Design of an Actuation Device With the Capability of Automatically Distributing External Load Based on Stability Theorems. ASME Journal of Mechanical Design, 2015, 137(8): 085001
29. Kong L, Wang H* Zhang P, et al. Stability Analysis for a Planar Parallel Manipulator with the Capability of Self-Coordinating the Load Distribution. Chinese Journal of Mechanical Engineering, 2015, 28(4):821-829
30. Huang S, Wang H* Zhao Y, et al. An analytical representation of conformal mapping for genus-zero implicit surfaces and its application to surface shape similarity assessment Computer-Aided Design, 2015, 64(C): 9-21
31. Chen G. Wang H*, Lin Z, et al. The Principal Axes Decomposition of Spatial Stiffness Matrices. IEEE Transactions on Robotics, 2015, 31(1): 191-207
32. Chen G, Wang H*, Lin Z. Determination of the Identifiable Parameters in Robot Calibration Based on the POE Formula. IEEE Transactions on Robotics, 2014, 30(5): 1066-1077
33. Huang S, Zhao Y*, Wang H, et al. Stabilized multi-domain simulation algorithms and their application in simulation platform for forging manipulator. Chinese Journal of Mechanical Engineering, 2014, 27(1)92-102
34. Chen G*, Wang H, Lin Z. A unified approach to the accuracy analysis of planar parallel manipulators both with input uncertainties and joint clearance. Mechanism and Machine Theory, 2013, 64(6):1-17
35. Yu H*, Eberhard P, Zhao Y, Wang H. Sharing behavior of load transmission on gear pair systems actuated by parallel arrangements of multiple pinions Mechanism and Machine Theory, 2013, 65(65): 58-70
36. Zhao Y*, Chen G, Wang H, et al. Optimum Selection of Mechanism Type for Heavy Manipulators Based on Particle Swarm Optimization Method. Chinese Journal of Mechanical Engineering, 2013, 26(4): 763-770
37. Chen G*, Wang H, Lin Z Generalized kinematic mapping of constrained plane motions and its application to the accuracy analysis of general planar parallel robots. Mechanism and Machine Theory, 2012, 50(2): 29-47.
38. Zhao Y, Wang H*, Yu H D, et al. A stiffness-matching based evaluation approach for compliance of mechanical systems in shield tunneling machines. Science China Technological Sciences, 2012, 55(10): 2926-2935
39. Wang H*, Zhao K, Chen G L, et al. Energy Distribution Index for robot manipulators and its application to buffering capability evaluation. Science China Technological Sciences, 2011, 54(2): 457-470
40. Wang H, Eberhard P*, Lin Z. Modeling and simulation of closed loop multi-body systems with bodies-joints composite modules. Multibody System Dynamics, 2010, 24(4): 389-411
41. Wang H", Chen G, Zhao Y, et al. Output error bound prediction of parallel manipulators based on the level set method. Mechanism and Machine Theory, 2010, 45(8): 1153-1170
42. Wang W*, Zhao K, Lin Z, Wang H. Evaluating interactions between the heavy forging process and the assisting manipulator combining FEM simulation and kinematics analysis The International journal of advanced manufacturing technology, 2010, 48(5): 481-491
43. Wang H*, Chen G, Lin Z Forward dynamics analysis of the 6-PUS mechanism based on platform-legs composite simulation. Chinese Journal of Mechanical Engineering, 2009,22(4):496-504
44. Chen G, Wang H*, Zhao K, et al. Modular calculation of the Jacobian matrix and its application to the performance analyses of a forging robot. Advanced Robotics, 2009, 23(10):1261-1279
45. Wang H*, Lin Z Q, Lai X M. Composite modeling method in dynamics of planar mechanical system Science in China Series E: Technological Sciences, 2008, 51(5): 576-590
46. Li Y*, Lin Z, Wang H, et al. An automated modeling approach for dynamic performance evaluation of mechatronic multibody systems. Mathematical and Computer Modelling of Dynamical Systems, 2007, 13(6): 545-572
47. Zhu W*, Wang H, Lai X, et al. A new method for fitting car doors allowing for the thermal effects of welding. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2006, 220(7): 891-900
48.Wang H*, Zhang C, Chen G KHV indexing cam mechanism: a new intermittent mechanism Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2005, 219(7): 687-694
49. Wang H*, Zhang C, Lin Z, et al. Meshing analysis of the planetary indexing cam mechanisms. ASME Journal of Mechanical Design, 2005, 127(2): 340-346
50. Zhao L, Wang H, Lin T, et al. Conceptual Design and Kinematic Analysis of the Diamobot A Homogeneous Modular Robot Mechanisms and Machine Science, 2016, 36: 693-703
51. Yu J, Zhao Y, Wang H, Wang L, Lai X. Compliance Analysis and Synthesis of a Serial Manipulator with Redundant DOFS Used in Tokamak Mechanisms and Machine Science, 2016,36:757-767
52.Chen G, Wang H, Lin Z. Forward dynamics of the 6-PUS parallel manipulator based on the force coupling and geometry constraint of the passive joints. Journal of System Design and Dynamics, 2011, 5(3): 416-428
53. Zhao Y, Lin Z, Wang H, et al. One-Day-Design-Studio (ODDS)-a resource-based extended tool for rapid innovation by TRIZ. International Journal of Product Development, 2006, 4(1-2):37-51
54.Wang H, Chen G, Lin Z, et al. Algorithm of integrating QFD and TRIZ for the innovative design process. International Journal of Computer Applications in Technology, 2005, 23(1):41-52
55. Wang H, Zhang C. Innovative design of indexing cam mechanisms. Chinese Journal of Mechanical Engineering(English Edition),2004,17:151-154
56. Yu W, Wang H, Chen G, Zhao L, Kinematic Design of a Multiple Motion-type Parallel Manipulator based on the 3-RRS Mechanism. ECCOMAS Thematic Conference on Multibody Dynamics June 19-57, 2017, Prague, Czech Republic.
49. Yu H, Luo J, Yi C, Wang H, Kinematic and Dynamic Behavior of Hyper-elastic Plate with External Force via Absolute Nodal Coordinate Formulation. ECCOMAS Thematic Conference on Multibody Dynamics June 19-22, 2017, Prague, Czech Republic.
58. Huang S, Yu J, Wang H, et al. The Realization of Desired Stiffness of Parallel Mechanism by Adding Redundantly-Actuated Limbs. ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017: V006T10A020-VO06T10A020
59. Zhao Y, Wang Z S, Wang H, et al. Stiffness analysis and optimization of supporting mechanism based on tricept for thin-walled part milling system. Proceedings of the 14th IFToMM World Congress. 2015
60. Yu H, Zhao C, Zhao Y, Wang H, et al. Deformation of Thin-Walled Structures in Assemble Process with Absolute Nodal Coordinate Formulation. International Conference on Intelligent Robotics and Applications. Springer, Cham, 2015: 619-629
61. Chen G, Wang H, Yu W, et al. Optimal Synthesis of the Slider-crank Mechanism for Path Generation Based on the Generalized Kinematic Mapping of Constrained Plane Motions. Proceedings of the 14th IFToMM World Congress. 2015: 108-116
62. Kong L, Chen G, Wang H, et al. An Experimental Comparison for the Accuracy Improvement of a 6-PSS Parallel Manipulator by Choosing Different Sets of Measurement Data. International Conference on Intelligent Robotics and Applications. Springer, Cham, 2015:173-184
63. Zhao C, Yu H, Wang H, Zhao Y Dynamic Analysis of the Rotating Thin-walled structure via the Absolute Nodal Coordinate Formulation. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Catalonia, Spain. June 29- July 2, 2015
64. Chen G, Wang H, Lin Z, Reformulation of the Local POE Formula for Robot Kinematic Calibration. 3rd IFToMM Inter. Symp. on Robotics and Mechatronics, Singapore, Oct 2 4,2013
65. Chen G, Wang H, Lin Z Optimal Kinematic Calibration of the 6-UPS Parallel Manipulator Proceedings of the 6th International Conference on Intelligent Robotics and Applications Volume 8102. Springer-Verlag New York, Inc, 2013: 384-395.
66. Sheng D Y, Qing N, Zhang L S, Wang H, et al. Static Stiffness Analysis of Exechon Parallel Manipulator Based on Screw Theory. The 6th Asian Conference on Multibody Dynamics Shanghai, China, Paper No. ID229000 2012
67. Zhang P, Yao Z, Du Z, Wang H, Yu H. Design and compliance experiment study of the forging simulator. Proceedings of the 4th international conference on Intelligent Robotics and Applications, 2011: 281-290
68. Wang H, Lin Z, Zhao K, et al. Buffering indices for robot manipulators based on the energy distribution. Proceedings of the Third international conference on Intelligent Robotics and Applications, 2010: 252-263
69. Huang S, Wang H, Zhao Y, et al. Dynamics Simulation of a Hemming Robot Considering Time-Varying External Forces. The Proceedings of the Asian Conference on Multibody Dynamics 2010.5. The Japan Society of Mechanical Engineers, 2010
70. Zhao K, Chen G, Wang H, et al. Kineto-Static Stiffness Mapping Based on Finite Element Analysis for Robot Manipulators. ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2009: 1069-1077
71. Chen G, Wang H, Zhao Y, et al. A kind of kinematically redundant planar parallel manipulator for optimal output accuracy. The ASME International Design Engineering
Technical Conferences. 2009
72. Wang H, Chen G, Lin Z Forward dynamics analysis of 6-PUS platform based on composite simulation method. Proceedings of the &th International Conference on Frontiers of Design and Manufacturing, September 2008: 23-26
73. Zhao K, Wang H, Chen G. Dynamic Simulation of Topology-Varying Mechanisms by Replacing Local Modeling Units. ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2008: 511-519
74. Chen G, Wang H, Lin Z, et al. Performance analysis of a forging manipulator based on the composite modeling method. Proceedings of the first International Conference on Intelligent Robotics and Applications, 2008: 152-160
75. Wang H,, Xie Y, Lai X, State Space Representations on Modular Kinematics and Dynamics of Planar Mechanism. 12th IFToMM World Congress, Besancon, France, June 18-21, 2007
76. Li Y, Lin Z, Wang H, et al. Automatic Generation of Component-level Dynamic Equations Using Extensible Element Linear Graph Method. 2006 IEEE International Conference on Automation Science and Engineering. 2006: 118-123
77. Chen Y, Wang H, Lai X, Lin Z, An Automated Modeling Approach of the Planar Mechanisms. Proceedings of the 15th International CIRP Design Seminar. Shanghai China, May 23-27, 2005
78. Wang H, Zhang C, New development and innovation of the indexing cam mechanisms IIth World Congress in Mechanism and Machine Science, Tianjin, China, Apr 01-04,2004
79.张健,余海东,李琳,王皓.含间隙转动副冗余约束机构的动力学特性机械设计与研究, 2018, 3401:76-81+86
80.王皓,陈根良,黄顺舟,陈坤勇.面向最优匹配位置的大部件自动对接装配综合评价指标, 机械工程学报,2017,53(23):137-146
81.黄顺舟,常晏宁,王皓,王卓识.弹性单元圆周阵列布置的被动顺应装置刚度性能分析与优化,机械设计与研究,2017,33(06:48-53+58
82.罗晶晶,余海东,赵春璋,王皓. 基于绝对节点坐标法变截面柔性梁运动稳定性研究, 上海交通大学学报,2017,51(10):1174-180
83.孙龙龙,余海东,唐国文,王皓. TBM掘进机含间隙典型关节接触刚度模型及其特性, 机械设计与研究,2017,33(05)6-11
84.黄顺舟,徐勋,王皓,王卓识.弹性单元圆周阵列布置的被动顺应装置机构设计及应用, 机械设计与研究,2017,33(04):115+21
85.常晏宁,王卓识,王皓.远中心柔顺机构弹性单元刚度建模研究,上海航天,2016,3305):57-62
86.陈正涛,王皓,赵勇,余海东,来新民.一种单自由度展开机构的设计与运动学分析机械设计与研究,2016, 32(05):14-17+30
87.王卓识,陈根良,王皓,徐勋,孔令雨.基于误差区域映射的并联机构精度设计研究.机械设计与研究,2016, 32(04):10-14
88.陈根良,林忠钦,王皓.操作机构尺寸与变形误差传递的统一建模方法硏究.金属加工(冷加工),2016(15):76
89.余觉,赵勇,牛书峰,王皓,邱伟真.直接线性化方法及其在液体火箭发动机管路装配中的应用上海交通大学学报,2016,50(06)957-962
90.陈根良,林忠钦,王皓.操作机构尺寸与变形误差传递的统一建模方法研究.机械工程学报,2016,52(06):180
91.谢启江,余海东,郑辉,王皓.变约束条件下硬岩掘进机推进系统动态特性机械设计与研究,2015,31(03):152-156+160
92.郝金明,赵勇,王皓,盛东义.薄壁构件镜像加工支撑机构综合刚度的分析与优化.机械设计与研究,2015,31(02):155-159+163
93.赵春璋,余海东,王皓,赵勇.基于绝对节点坐标法的变截面梁动力学建模与运动变形分析机械工程学报,2014,50(17):38-45
94.段旭洋,王皓,赵勇,陈根良.基于嵌套粒子群算法的平面机构尺度综合与构型优选.机械工程学报,2013,49(13):32-39
95.秦娜,王皓,赵勇,陈根良.考虑制造误差的计算机辅助机构误差分析.机械设计与研究,2013,29(02):4-10
96.林忠钦,来新民,金隼,王皓,朱利民,陈关龙.复杂产品制造精度控制的数字化方法及其发展趋势机械工程学报,2013,49(06):103-113
97.袁镭余海东,赵勇,王皓.基于变密度法的大型天线系统支撑结构优化设计.机械设计与研究,2013,29(01):118-122
98.盛东义,赵勇,王皓,孙卫东. Tricept并联机构的弹性动力学性能.机械设计与研究,2012,28(06):23-29
99.刘少军,王皓,林忠钦.飞机大部件对接机构驱动分析与优选.机械设计与研究,2012,28(06):37-40+45
100.赵勇,王皓余海东,来新民,林忠钦.基于刚度匹配的盾构掘进机械系统顺应性评价方法中国科学:技术科学,2012,42(10):1228-1237
101.孙卫东,王皓,赵勇.一种冗余驱动协调机构的偏载稳定性分析.机械工程学报,2012,48(01):7-12
102.余海东,丁晟,张凯之,王皓.盾构机主轴回转支承轴承刚度及变形特性研究中国机械工程,201122(04):452-457
103.林晓文,王皓,赵勇.考虑枸件弹性变形的锻造操作机静剛度分析.机械设计与研究,2011,27(01):94-98
104.邵鑫,余海东,张凯之,王皓.复合岩土掘进时盾构机冗余驱动推进系统的分组策略机械设计与研究,2011, 2701:5-9
105.赵勇,林忠钦,王皓.重型锻造操作机的操作性能分析机械工程学报,2010,46(11):69-75
106.曾晓星,余海东,王皓,来新民,张凯之.全断面盾构机异质岩土掘进载荷等效模型研究.岩土力学,2010, 31(04): 1199-1203
107.赵凯,王皓,陈关龙,林忠钦,何永波,自由锻造操作机顺应过程分析机械工程学报,2010,46(04)27-34
108.丁晟,余海东,王皓.冗余驱动盾构机推进系统机液耦合模型及载荷特性分析.中国机械工程,2010,21(03):258-262+309
l09.曾晓星,余海东,张凯之,王皓.盾构机复合岩土层掘进刀盘弯矩特性分析上海交通大学学报,2010.4401):51-5
110.周金华,李志敏,王皓.弹性基础上的三维编织复合材料板的非线性振动分析(英文)船舶力学,2009,13(06):955-966
111.朱文峰,王皓,李艳萍.线段豪斯多夫距离度量下的车身覆盖件匹配方法.同济大学学报(自然科学版),2009,37(12):1648-1652
112.范凡,王皓,赵勇.自由锻造操作机冗余驱动系统的驱动力分配与协调.机械设计,2009,26(09):26-30
113.陈根良,王皓,来新民,林忠钦.基于广义坐标形式牛顿-欧拉方法的空间并联机构动力学正问题分析.机械工程学报,2009,45(07):41-48
114.陆光钰,王怀彬,王皓,李淑慧.车门板辊压包边机器人环境力约束仿真与试验研究.中国机械工程,2009, 20(09): 1126-1129
115.王皓,陈根良.基于 Schiehlen方法的Delta型并联机构动力学正问题分析.机械设计与研究.2008年专刊,pp.177-180, 2008
116.胥志刚,林忠钦,来新民,王皓.面向车身结构轻量化设计的水平集拓扑优化上海交通大学学报,2007(09393-1396+1401
117.李颖哲,林忠钦,王皓,陈泳,来新民.基于线性图理论机枃间隙的复合模型上海交通大学学报,2007(08):1258-1262
118.李颖哲,林忠钦,陈泳,王皓,来新民.机械传动概念设计解与动态性能分析集成建模.机械工程学报,2007(04):70-76
119.朱文峰,来新民,刘海江,王皓.焊接热效应对车门匹配影响的仿真研究.系统仿真学报,2007(06):1186-1188+1195
120.陈燕,李洪涛,王皓,来新民.自动人行道系统滚子链传动裝置减振设计.机械设计与研究,2006(04):85-88
121.李颖哲,林忠钦陈泳,王皓,来新民.基于EELG理论与 Dymola环境的多学科系统集成仿真.系统仿真学报,2006(08):2275-2279
122.朱文峰,来新民,王皓,林忠钦.计入焊接热效应影响的车身门盖件匹配优化方法. 机械工程学报,2005(11):84-89
123.张如飞,傅博深,林忠钦,王皓,车门板包边机器人六关节角运动分析.机械设计与研
究,2005(04):88-90.
124.朱文峰,来新民,林忠钦,王皓.车身装配虚拟样机建模硏究.计算机集成制造系统,20050163-67
125.朱文峰,来新民,王皓,林忠钦,陈潼.汽车企业协同产品商务汽车工程,200(02)246249
126.洪振宇,杨玉虎,王皓.行星分度凸轮位置误差分析机械科学与技术,2003(S1:129-131
127.王皓,张策,杨玉虎.行星分度凸轮机构凸轮廓线的设计机械工程学报,2003(03):13-16
128.刘明涛,王皓,张策.行星分度凸轮机构的平衡分析机械设计,200208):40-42
129.王皓,张策,杨玉虎.行星分度凸轮机构针齿受力分析机械科学与技术,2002(03):403-405+417
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