In this paper, velocity harmonization and acceleration harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method.

用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。

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"I still got a long way to go, " said the New York City computer network specialist who had a stroke two days before his 40th birthday. "The robot really put a lot of muscle tone back in my arm.

这名纽约市电脑网络专家在他40岁生日的前两天中风了，他说：“我仍然有很长的路要走，机器人的确使我手臂肌肉的张力恢复了很多。”

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For the two-bar robot arm, we focus merely the whole kinetic energy at horizontal condition, and neglect the change of potential energy due to the bending deflection of the robot arm.

对二连杆机器人手臂在水平状态下仅考虑总的动能，而忽略由于手臂挠曲变形而产生的位能变化。

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