【正文】 nment for the working environment changed circumstances, can also successfully plete the task, it is still in the experimental research United States is the birthplace of the robot, as early as in 1961, America39。s wele, make its Japanese industrial robots get fast development, the number of now whether robots or robot densities are top of the world, known as the “robot kingdom,” robot introduced from Germany time than Britain and Sweden about late 1956, but the Labour shortages caused by war, national technical level is higher social environment, but for the development and application of industrial robot provides favorable addition, in Germany, for some dangerous prescribed, poisonous or harmful jobs, robot instead of ordinary people to the is the use of robots exploit a wide range of markets, and promote the development of the industrial robot present, the German industrial robots total of the world, which only behind to French government has been more important robot technology, and through a series of research program, support established a plete science and technology system, make the development of the French robot government organization project, pay special attention to the robot research based technique, the focus is on the application research on in by industry support the development application and development of work, both supplement each other, make robots in France enterprises develop rapidly and popularize and make France in the international industrial machine with indispensable if jamie since the late 1970s, promote and implement a department measures listed support the development of policies and make robots British industrial robots than today39。20o1。Performance evaluation of twodegreeoffreedom planar parallel robots。35(1)：15—40[ ] Xi F，Zhang D，Xu Z，et al。2）參數(shù)Ixx，Iyy并鏈接39。圖6 所示 鏈接的AB、梁公里，連接03F也是其中的三個(gè)主要因素決定的均勻性線性傳動(dòng)裝置、不同的分析結(jié)果表明，Izz效果好，具有至少兩個(gè)垂直和水平剛度，這意味著這種結(jié)構(gòu)，具有足夠的水平，降低Izz剛度的鏈接和增加Iyy AB、梁的鏈接，鏈接O3F公里的好方法，優(yōu)化系統(tǒng)。 截面效應(yīng)扭轉(zhuǎn)變形位移的連結(jié)將會(huì)引起的，所以，扭轉(zhuǎn)常數(shù)的橫截面，重力是研究裝系統(tǒng)來(lái)研究，采取扭轉(zhuǎn)剛度的垂直切片lxx不變的各個(gè)環(huán)節(jié)和梁作為設(shè)計(jì)變量的變化，從 x 105mm4 與 x 105 mm4。動(dòng)鏈中的約束鏈除了可以提高機(jī)構(gòu)剛度和作為測(cè)量鏈外，其更主要的作用是用來(lái)約束動(dòng)平臺(tái)的某一個(gè)或幾個(gè)自由度，以使其實(shí)現(xiàn)預(yù)期的運(yùn)動(dòng)。連接AB、德、03F和LJ被視為柔性體立柱、橫梁GK，通用公司和公里，形成一個(gè)三角形，也被當(dāng)作柔性傳動(dòng)長(zhǎng)度的鏈接是決定提前運(yùn)動(dòng)學(xué)設(shè)計(jì)為AB =O3F = 7cm，DE=IJ=7cm，GK= 7cm，GM =，= 。本文利用螺旋理論對(duì)三自由度并聯(lián)機(jī)器人進(jìn)行型綜合，以總結(jié)某些規(guī)律，進(jìn)一步豐富型綜合理論，并為新機(jī)型的選型提供理論依據(jù)，以下對(duì)其進(jìn)行闡述。第二篇：3自由度工業(yè)機(jī)器人(外文翻譯)動(dòng)態(tài)優(yōu)化的一種新型高速，高精度的三自由度機(jī)械手①彭蘭（蘭朋）②，魯南立，孫立寧，丁傾永(機(jī)械電子工程學(xué)院，哈爾濱理工學(xué)院，哈爾濱 150001，中國(guó))(Robotics Institute。在這種方式中，我們推導(dǎo)出的表達(dá)式，解決“記賬”問(wèn)題可直接應(yīng)用于實(shí)際的數(shù)值計(jì)算。最明顯的例子是，除了向量是給定的或已知的相對(duì)于不同的參考系。這一現(xiàn)象的理解是設(shè)計(jì)師和用戶的重要機(jī)械手。這些問(wèn)題的研究提供了一個(gè)欣賞什么人的心靈神經(jīng)系統(tǒng)是實(shí)現(xiàn)當(dāng)我們，似乎沒(méi)有有意識(shí)的思考，移動(dòng)和我們的雙臂和雙手操作的對(duì)象。我們可以把這個(gè)問(wèn)題作為一個(gè)映射在三維笛卡爾的“位置”空間的“位置”在機(jī)器人的關(guān)節(jié)內(nèi)的空間。（。我們一般通過(guò)描述工具的框架描述的機(jī)械手的位置，這是連接到端部執(zhí)行器，相對(duì)于底座，所對(duì)移動(dòng)機(jī)械手的基礎(chǔ)。在旋轉(zhuǎn)或旋轉(zhuǎn)接頭的情況下，這些位移被稱(chēng)為關(guān)節(jié)角度。任何框架可以作為一個(gè)參考系統(tǒng)內(nèi)的表達(dá)一個(gè)身體的位置和方向，所以我們經(jīng)常認(rèn)為轉(zhuǎn)化或改變身體的這些屬性從一幀到另一個(gè)的描述?？刂评碚撎峁┝斯ぞ咭詫?shí)現(xiàn)所期望的運(yùn)動(dòng)和力的應(yīng)用評(píng)價(jià)算法設(shè)計(jì)。到底什么是工業(yè)機(jī)器人是有時(shí)辯論。同時(shí)，機(jī)器人不只是越來(lái)越便宜，他們變得更有效更快，更準(zhǔn)確，更靈活的。利用工業(yè)機(jī)器人，成為可識(shí)別在1960年代的一個(gè)獨(dú)特的裝置，隨著計(jì)算機(jī)輔助設(shè)計(jì)（CAD）系統(tǒng)和計(jì)算機(jī)輔助制造（CAM）系統(tǒng)的特點(diǎn)，最新的趨勢(shì)，制造業(yè)的自動(dòng)化過(guò)程。如果學(xué)生已經(jīng)在靜力學(xué)的一門(mén)基礎(chǔ)課程有助于動(dòng)力學(xué)和線性代數(shù)課程可以在高級(jí)語(yǔ)言程序。主要的相關(guān)的領(lǐng)域是力學(xué)，控制理論，計(jì)算機(jī)科學(xué)。s report is different from other areas: they count the number of machine of robot in other parts of the world are not considered robot(instead, they would simply be considered “factory machines”).Therefore, the reported figures for the Japanese of the main reason for the growth in the use of industrial robots is that they are falling shows that, in the last century 9039。for example, each chapter it mainly mechanical has a brief section book is used to teach the class notes introduction to robotics, Stanford University in the fall of 1983 to first and second versions have been through 2002 in use from 1986 the third version can also benefit from the revised and improved due to feedback from many to all those who modified the author39。s a coarse and important level, these objects are described by two attributes: the position and course, a direct interest in the topic is the attitude in which we represent these quantities and manipulate their order to describe the human body position in space and direction, we will always highly coordinate system, or frame, rigid we continue to describe the position and orientation of the reference frame of the coordinate framework can be used as a reference system in the expression of a body position and direction, so we often think of conversion or transformation of the body of these properties from one frame to another 2 chapter discusses the Convention methods of dealing with job descriptions discussed method of treating and post convention described positioning and manipulation of coordinate system the quantity and mathematics developed skills relevant to the position and rotation of the description and is very useful in the field of rigid is the science of sports, the movement does not consider the force which resulted in the scientific research of kinematics, a position, velocity, acceleration, and the location variable high order derivative(with respect to time of all or any of the other variables(S)).Therefore, the kinematics of manipulator is refers to the geometric and temporal characteristics of all manipulator prises nearly rigid connection, which is the relative movement of the joint connection of adjacent nodes are usually instrument position sensor, so that adjacent link is a relative position the case of rotating or rotary joint, the displacement is called the joint robots including sliding(or prism)connection, in which the connection between the relative displacement is a translation, sometimes called the joint manipulator has a number of independent position variables are specified as the mechanism to all parts of is a very general term, any example, a four connecting rod mechanism has only one degree of freedom(even with three members of the movement).In the case of the typical industrial robots, because the robots is usually an open kinematic chain, because each joint position usually define a variable, the node is equal to the number of degrees of free end of the link chain