【摘要】 本文以7R机械手为例,叙述了确定机械手树状解的符号判别法。该方法具有简单、直接、准确的特点。此外,本文还给出了7R机械手位置分析的理论计算公式。更多还原

【Abstract】 In this paper a sign discriminatory method of determiningmanipulatoi multi-solution is explained taking 7R-manipulator for example.The method is characterized by its simplicity, directeness, and accuracy. Inaddition, the theoretical calculation formulae of position analysis of 7R-manipulator are given in the paper.更多还原