The velocity and acceleration analysis of components of the RSSR mechanism with adjustable inertia parameters have been done out with the vector analysis approach and the D-H matrix.

• 运用向量分析和D-H矩阵对惯性可调空间RSSR机构的运动特性进行了分析,在此基础上,运用虚功原理对该机构的动态静力动力特性进行了分析,给出了驱动力矩和两连架副的约束反力计算公式。