本文研究机器人手臂承受静态外力负载(即静力操作状态)时,在静态平衡条件下,机器人关节坐标系间力与力矩的变换关系,静态关节转矩和末端外施力(力矩)之间的关系,外施力与末端位移之间的关系(即末端刚度)等。机器人静力操作状态性能是研究机器人驱动机构、机器人控制系统、机器人定位精度、机器人与环境的关系以及机器人柔顺控制等方面的重要课题。 In this paper, under the condition of static equilibrium, the relationship between the robot joint coordinate force and torque, the static joint torque and the external force (moment) are studied when the robot arm is subjected to the static external load (ie, the static operation state) Relationship, external force and the relationship between the end displacement (ie, the end stiffness) and so on. The static performance of robot is an important subject to study the relationship between robot drive mechanism, robot control system, robot positioning accuracy, robot and environment and robot compliance control.