机器人手腕组成及姿态变换机构的应用

The Wrist Formation of Robot and the Applicationof the Orietation Transformation Mechanism

本文提出机器人手腕组成的模块组合和特殊设计二种方法,从匹配、干涉、奇异、载荷空间体积等几个方面对手腕组成进行了评述,并进行计算机辅助分析。

This paper presented two methods of the wrist formation:modular design and special design.The paper discussed match,interference, singutarity,SOV etc.and made the computer aided analysis for the robot wrist.