摘要
提出了 3R 3P双臂机器人环向缠绕开环弯管芯模的工艺方案 ,建立了 3R臂、3P臂间的位置协调方程 ,推导了该机器人的雅可比矩阵 。
A plan of 3R3P twoarm robot winding around the open loop curved pipe model was put up. position coordinate equation of 3R arm and 3P arm was set up and its Jacobian Matrix was concluded,The work settle the theoretical foundation for kinematic.
出处
《武汉化工学院学报》
2002年第3期58-60,68,共4页
Journal of Wuhan Institute of Chemical Technology
