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Journal of Robotics System. 1993, 10(5): 725~744 項(xiàng)目的研究?jī)?nèi)容、研究目標(biāo)及擬解決的關(guān)鍵問題。 研究目標(biāo) 針對(duì)目前二元超冗余機(jī)器人機(jī)構(gòu)學(xué)基礎(chǔ)理論研究中存在的空白欠缺之處，運(yùn)用并聯(lián)機(jī)器人機(jī)構(gòu)學(xué)理論和現(xiàn)代數(shù)學(xué)工具，深入研究基于少自由度并聯(lián)機(jī)構(gòu)的二元超冗余機(jī)器人構(gòu)型綜合 與優(yōu)選、 運(yùn)動(dòng)敏感性 、柔性多體動(dòng)力學(xué)建模、動(dòng)力學(xué)模型簡(jiǎn)化與求解算法、振動(dòng)特性分析等問題，并建造一臺(tái) 基于優(yōu)選構(gòu)型的含 6個(gè)并聯(lián)模塊的 二元超冗余機(jī)器人實(shí)驗(yàn)樣機(jī) ， 用于驗(yàn)證理論分析結(jié)果， 探索其實(shí)際工程應(yīng)用，為最終形成二元超冗余機(jī)器人動(dòng)態(tài)優(yōu)化設(shè)計(jì)理論奠定基礎(chǔ) 。 研究?jī)?nèi)容 國(guó)家自然科學(xué)基金申請(qǐng)書 第 12 頁(yè)