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文章主要针对水轮机修复专用机器人动力学问题。
This paper mainly focused on the dynamics problem of special robot for hydraulic turbine repair.
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.
本文针对水轮机修复专用机器人视觉系统，采用基于三角测量原理的主动视觉法中的激光扫描法对水轮机转轮叶片缺陷进行检测。
The paper adopts laser scanning of the method of positive vision basing on the principle of triangle measure to detect the drawback of hydraulic turbine blade.
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