为了控制机械手装置,我们必须对其终端执行机构的笛卡尔轨迹进行设计。解决此问题所普遍采用的方法是给装置的每个杆件赋以一个坐标系,然后解齐次方程。这种惯用方法使用复杂,而且进行分析时缺乏直观感。本文的目的是研究和验证一种基于直观几何分析的方法,这种方法无需对齐次方程有任何了解。文中介绍了所作的分析和详细步骤,并研制了软件。这种思想也能扩展到许多其他机械手装置,十分适用于教学实验室。 In order to control a robotic device, we must design the Cartesian trajectory of its terminal actuator. A common solution to this problem is to assign a coordinate system to each member of the device and then solve the homogeneous equations. This familiar approach is complicated to use and lacks intuitiveness for analysis. The purpose of this paper is to study and validate a method based on visual geometric analysis that does not require any understanding of homogeneous equations. The paper introduced the analysis and detailed steps, and developed the software. This idea can also be extended to many other robotic devices and is well suited for teaching laboratories.