各关节的回转副和摆动副、以及夹持手的蜗杆的运动分别由一台伺服电机驱动。
The movement of the turning pairs and the swinging pairs of the joints and the worm of the clamping hand are respectively driven by one servomotor.
为进行斜齿锥齿轮副的齿面接触分析，并直观显示齿面接触区，利用圆向量函数和球向量函数的矢量回转和坐标变换方法，建立了斜齿锥齿轮齿面接触分析的数学模型；
To analyze and display the contact of skew bevel involute gears, a mathematic model was established by vector gyration and coordinate transform of circle vector functions and sphere vector functions.
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