一个机器人结构设计及运动学

中文原文
一个机器人结构设计及运动学(中文4100字,英文3200字)
机械臂毫升.理论
KESHENG WANG and TERJE K . LIEN
生产工程实验室，NTH-SINTEF，N-7034，挪威特隆赫姆
   六自由度机器人可以分为两个部分：与前三个关节为主要定位，最后三个关节为主要面向腕臂。如果我们考虑连续的链接是平行或垂直的，只有12的臂和两个手腕结构可能是有用的而且不同于对机器人机械手的机械设计。这种简化可以导致对手臂和手腕的不同组合配置相应的逆运动学算法。对于一个机器人逆运动学是非常有效和简单的计算方法。 
简介

英文原文
THE STRUCTURE DESIGN AND KINEMATICS OF A ROBOT
MANIPULATORml. THEORY
KESHENG WANG and TERJE K . LIEN
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim, Norway
A robot manipulator with six degrees of freedom can be separated into two parts: the arm with the first three joints for major positioning and the wrist with the last three joints for major orienting. If we consider theconsecutive links to be parallel or perpendicular, only 12 arm and two wrist configurations are potentially usefuland different for robot manipulator mechanical design. This kind of simplification can lead to a generalalgorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist.The approaches for calculating the inverse kinematics of a robot manipulator are very efficient and easy.The approaches for calculating the inverse kinematics of a robot manipulator are very efficient and easy.