依据现有的非完整理论和非线性控制原理,提出了一种新型的单输入双输出非完整传动机构,并将其应用于开链多关节机械手臂上,同时利用非完整系统的特殊属性仅用2个电动机来控制多个关节。运动学分析结果表明,这种多关节机械手臂结构简单,重量轻,易于控制。这种设计为研究开发轻型机器人和多指机械手等方面提供了新的思路。 Based on the existing nonholonomic theory and the principle of nonlinear control, a new type of single-input / double-output nonholonomic transmission mechanism is proposed and applied to open-chain multi-joint robots. At the same time, the special properties of nonholonomic systems Use two motors to control multiple joints. Kinematic analysis results show that this multi-joint robot has the advantages of simple structure, light weight and easy control. This design provides a new idea for the research and development of light robots and multi-finger manipulator.