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The single-stage cylinder leveraged balance erecting solutions was adopted to solve multistage cylinder change-stage impact on the erecting mechanism which mathematical and simulation model is build. The dynamics performance is very significant for stability and rapidity of Erecting mechanism, therefore , dynamics analysis for the erecting mechanism is made in a condition of setting its movement rules of trajectory planning. In the end, a better erecting trajectory is elected due to dynamics simulation which is compared by using ADAMS software for five movement rules. This would be a important reference to improving performance of the erecting mechanism on the fast and smooth.

Dynamics Analysis and Trajectory Planning of Erecting mechanism