图1为由n个可自由旋转的关节串联而成的机械手。我们可用n个座标系来确定其位置。对任一座标系(设第k个)而言,Z_k轴即为关节k的轴线,X_k轴为轴Z_k和Z_(k+1)间公法线的方位,Z_1轴连接固定座标。最后一根杆(n)与机械手的端部,即“手”相连。任一杆(设第k杆)是连接在相应的关节(k)上的。确定相邻关节的几何关系,需三个 Figure 1 is composed of n freely rotating joints in a robot. We can use n coordinates to determine its position. For any coordinate system (the kth one), the Z_k axis is the axis of the joint k, the X_k axis is the common normal direction between the axes Z_k and Z_ (k + 1), and the Z_1 axis is connected to a fixed coordinate. The last rod (n) is connected to the end of the manipulator, the “hand”. Either rod (set the kth rod) is connected to the corresponding joint (k). Determine the geometric relationship between adjacent joints, need three