我们知道,动物的肢体所以能灵活地完成各种动作,其重要原因之一是其肢体之间具有能相对运动的关节.如人的腰关节、肘关节、腕关节等等.机器人的操作机是由各式各样的机械零件和构件联接而成的一种机器.有的零件连在一起成为一个固定不动的组件,如机座.而有的零件联接在一起,则需要能进行相对运动,如手臂和手腕等等.这些一个构件能相对于另一个构件进行运动的活动联接部分就称为关节.机器人操作机的手臂和手腕就是由一组相互联接的构件和关节所组成. We know that one of the most important reasons why animals can flexibly perform various motions is that their limbs have relatively movable joints such as human’s lumbar joints, elbows, wrists, etc. Robot manipulators Is composed of a variety of mechanical parts and components connected to form a machine. Some parts together as a fixed component, such as the base. And some parts together, you need to be able to relative Such as arms and wrists, etc. The articulation part of these components, which is capable of moving relative to the other component, is called a joint The arms and wrists of a robot manipulator consist of a set of interconnected members and joints.