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本文引入机构构基“fundmentals”概念。在以构基为钥匙分析空间链系机器人结构的基础上,着重解决闭合链系、开式链系和混合链系机器人的自由度判定问题。文中介绍了自由度判定模式和直观判定方法。
This paper introduces the concept of institutional foundation “fundmentals”. On the basis of analyzing the structure of the space chain robot with the key of the structure, the problem of determining the degrees of freedom of the closed chain system, the open chain system and the hybrid chain system robot is emphatically solved. This article introduces the degree of freedom decision model and intuitive decision method.