中英文文献翻译-一个机器人结构设计及运动学.pdfVIP

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 confi