A hybrid input planar five-bar mechanism has two degrees of freedom, and its dynamic model is a highly nonlinear and strong coupling system.
混合输入平面五杆机构具有两个自由度，其动力学模型是一个高度非线性和强耦合系统。
Then, the precise five-freedom dynamic model including the robotic system problems such as coupling, nonlinear and so on was established.
其次，考虑到机器人系统的耦合、非线性等问题，建立准确的五自由度机器人动力学模型；
The three-freedom nonlinear strong coupling dynamic math model of the system is established in this paper.
本文首先建立系统的三自由度非线性、强耦合的动态数学模型。
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