双臂机器人机构运动学分析

Kinematic Analysis of Two-arm Robotic Mechanisms

本文在多体系统理论及单臂机器人机构运动学的基础上研究双臂机器人机构主、从臂在存在相对运动条件下的协调运动过程中的运动学关系，并给出协调运动过程主。

ased on the theory of multibody system and the Kinematic of One-armrobotic mechanisms , this paper discusses the Kinematic relation of Two-arm robotic mecha-nisms in the process of coordinate motion with relative motion between the Leader and theFollower. And the constrained equations of coordinate and direction between the Leader andthe Follower are also obtained in the process of coordinate motion.