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低序体阵列采用“阵列”而非“矩阵”的形式描述多臂机器人系统的拓扑结构．基于低序体阵列，运用偏（角）速度、广义速率等概念，形成多臂机器人系统的运动学模型．该模型以偏（角）速度为方程系数的基本组合模块，具有形式简洁且易于程式化的特声、．以双臂机器人刚性夹持物体为例，讨论了该算例的运动学特性，并给出了相应的数字仿真结果．
The low-order body array describes the topology of the multi-legged robot system in an “array” rather than a “matrix.” Based on the low-order body array, the kinematic model of the multi-arm robot system is formed by the concepts of partial angular velocity and generalized velocity. The model uses partial (angular) velocity as the basic combination module of the equation coefficients, and has a simple and easy-to-program sound. Taking the two-arm robot rigidly clamped as an example, the kinematic characteristics of the example are discussed and the corresponding numerical simulation results are given.