摘要
讨论的弧焊机器人的操作臂可以看成是一个含局部闭链结构的开式运动链,采用Denav-it-Hartenberg方法建立弧焊机器人的坐标系,建立操作臂的运动学方程。
The arm of an arc-welding robit here is viewed as an opened-chain frame with a partial closed-chain.Denavit-Hartenberg method is adopted to establish its coordinate system and its kinematical equation is also erected.
出处
《机械设计与制造》
2004年第4期87-88,共2页
Machinery Design & Manufacture
关键词
局部闭链
运动学方程
逆运动学
Closed-chain
Kinematical equation
Inverse dynamics
