【摘要】 机器人构型设计中的关键问题就是设计具有确定末端运动特征的支链。提出机器人运动单元、基本运动单元和复合运动单元的概念,给出了各种运动单元的合成原理与部分算法。最后以一类具有平面副运动特征的支链为例,表明该方法简便易行。更多还原

【Abstract】 Design of the subchains with known kinematic characteristics is the key problem in robot type synthesis.A few of new concepts,such as kinematic unit,basic kinematic unit and compound kinematic unit are brought forward.The according compositive principles and some algorithms are also given.In the end,it is proved that the method is simple and effective by taking a kind of subchains with the chatacteristics of plane joint as example.更多还原