摘要
Based on the mechanism of passive compliant assembly, geometric- force models of the assembly are presented, and the stiffness matrix of the laminated circular elastic element is set up. The optimum method of RCC wrist is compiled by way of two ohases, respectively.
基于被动柔顺装配机理，导出柔顺装配的几何－力学关系，建立了层叠式橡胶弹性杆刚度矩阵。提出手腕具有最优的性能参数和最佳的结构参数的两轮优化方案。
