适用于软体、刚性和混合机器人系统的统一仿真和分析matlab平台.zip

This folder contains the SorosimLinkage class which allows the user to define different types of linkages by combining SorosimLinks. Folder 'Input functions' contain functions to enable GUI Folder 'Static and dynamic functions' contain functions used during the static and dynamic analyses Folder 'Utility Functions'contains utility functions used during Sorosim Linkage creation Folder 'Actuation' contains functions that are used to gather userinput for lumped (joint) actuation and distributed (cable) actuation. The Twist class defines the dof of the system.