该平台以实际工业生产中的零配件装配加工为模拟对象，主体部分由双悬挂移动式多关节机器人和一个地面移动式多关节机器人组成。
And the platform mainly consists of two swing mobile robots and one ground mobile robot with the accessory assembling and machining in industry as the simulation object.
解耦型球关节能实现运动解耦，基于该关节所构造的工业机器人将具有灵巧及易于控制的特点。
The decoupling spheric joint can realize movement decoupling. Industrial robot based on this joint will have lots of unique characteristics such as smart and easy to control.
本文根据传统的直角坐标数控雕刻机的缺陷，结合工业机器人的运动学特性，研制了一种五自由度关节式雕刻机器人。
By analyzing the disadvantage of the traditional NC engraving machine based on orthogonal coordinates and the kinematics characteristic of industry robot, a robot with five knuckle arms is designed.
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