并联机床运动学正解问题由于涉及到求解非线性方程组问题而不易解决。
It's difficult to solve the direct kinematics of a parallel machine tool (PMT), which will deal with nonlinear function set.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
SCARA运动学的研究中，以旋量，李群李代数为基础的POE指数积法求解运动学正解，逆解以及速度雅可比。
In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra.
给出了机器人的运动学正解和逆解，提出了一套机构简化方案，完成了机器人的各种手臂姿态规划，分析了存在的运动干涉约束。
The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward.
讨论了一种四自由度机器人运动学模型的建立问题，在此基础上给出了该机器人运动学正解和运动学逆解的简化求解方法，简化了求解过程，大大减少了计算量。
The paper introduces kinematics modeling for a kind of four degrees of freedom robot and gains the robots forward kinematics and inverse kinematics by using a simplified method based on this.
并联机床；CAD变量几何；欧拉角；运动学；静力学；自由曲面；位置正解。
Parallel Machine Tool; CAD Variation Geometry; Euler Angle; Kinematics; Statics; Free-form Surface; Forward position.
本文在机器人学的理论基础上，将机器人模型建立在D -H坐标系下，根据变换方程推导出一组简单实用的方程来实现运动学方程的正解。
Founded on D-H coordinate system, a series of kinematics equations are deduced to realize kinematics forward solution by means of transformation equations.
本文在机器人学的理论基础上，将机器人模型建立在D -H坐标系下，根据变换方程推导出一组简单实用的方程来实现运动学方程的正解。
Founded on D-H coordinate system, a series of kinematics equations are deduced to realize kinematics forward solution by means of transformation equations.
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