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受可操作性理论和可操作性椭圆的启发,提出了形状变化可操作性理论和形状变化可操作性椭圆。形状变化可操作性表示了当冗余机械手的手臂末端被给定任务时,其余中间关节的形状变化性能。并对可操作性椭圆和形状变化可操作性椭圆进行了比较和分析,形状变化可操作性理论的提出对于井下作业有着重要的实际意义。
Inspired by the operability theory and the operability ellipse, the theory of shape change operability and the shape change operability ellipse are proposed. Shape change operability represents the shape change behavior of the remaining middle joints when the ends of the redundant manipulator’s arms are given a task. In addition, the operability ellipse and shape change operability ellipse are compared and analyzed. The shape change operability theory is of great practical significance for the downhole operation.