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机器人构型设计中的关键问题就是设计具有确定末端运动特征的支链。提出机器人运动单元、基本运动单元和复合运动单元的概念,给出了各种运动单元的合成原理与部分算法。最后以一类具有平面副运动特征的支链为例,表明该方法简便易行。
The key issue in robot configuration design is the design of branches with a defined end-movement signature. The concepts of robot kinematics unit, basic motion unit and compound motion unit are proposed, and the synthesis principle and some algorithms of various motion units are given. Finally, a type of branch chain with planar side-moving features is taken as an example, which shows that the method is simple and easy.