【摘要】 通过对串联关节的运动耦合分析研究,对现有的关节解耦理论进行了一些修正,即不要求所有关节旋转轴线交于一点,关节解耦与否和关节旋转轴线是否交于一点没有必然联系,论文通过数学推导和计算机运动仿真证明了这一点,此修正为解耦关节的设计提供了新的依据。更多还原

【Abstract】 The motion coupling of series joint was analyzed. The current principle of universal decoupling theory was modified. There is no need to require all joints’ rotation axes intersect at one point. There is no link between joints decoupling and whether the axes interact at one point. Mathematical derivation and computer simulation prove the modified theory. These provide the new basis for the design of decoupled joints.更多还原