摘要
任一刚体的空间运动都可以视为沿某一轴线作螺旋运动。基于这一观点,本文用螺旋理论对机器人的相对运动作了分析。文中提出的螺旋运动方程对闭式运动链,即空间机构同样适用。
Spatial motion of a rigid body can be seen as a screw motion of the body along a specific axis. In accordance with the above principle the screw theory is presented to analyse the relative motion of a robot here. The screw motion equation presented is also suitable for closed chains, i. e. spatial mechanisms.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
1991年第1期93-99,共7页
Journal of South China University of Technology(Natural Science Edition)
关键词
机器人
空间机构
螺旋运动
Spatial mechanism
spatial motion
instantaneous screw motion
pitch
robot
moment vector
plucker coordinate
