许多机器人的共同特点是在操作臂末端安装了球腕。
The common characteristic of many robots was a spherical-wrist mounted at the end of manipulator.
通过对机器人球腕进行的局部优化，整个机器人末端执行器的运动精度将在一定程度上有所提高。
By the partial optimization to the robot with a sphere-wrist, the kinematic accuracy of the end effector of the whole robot can be increased to some extent.
桌上及箱子里满是古董珠宝、女式手提袋、豪华腕表、高尔夫球具以及打猎用的诱饵鸭，尽管它们曾经的主人是一位富有的“世纪巨骗”，但这些物品看起来有些廉价而俗丽。
There is something a little tawdry about tables and cases filled with old jewelry purses, watches, duck decoys and golf clubs, even if they once belonged to a wealthy crook.
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