1·The structural designing scheme of a new kind of 4dof portable pedrail robot has been put forward.
提出了一种新型4自由度便携式履带机器人结构设计方案。
2·It's very important problem to choose the structural parameters of 3 dof parallel mechanism which will affect the workspace of moving platform and dexterity of manipulator.
由于3自由度平动并联机构结构参数的选取对运动平台的工作空间以及并联机构的运动灵活性都会产生影响，所以如何选取结构参数是一个很重要的问题。
3·Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
4·To reduce the horizontal vibrations of high-speed elevator, a 4DOF dynamic model of elevator was developed, and the differential equations and the state space model were also given.
为了降低高速电梯的水平振动，建立了4自由度的电梯轿厢水平振动主动控制的动力学模型，给出了微分方程，建立了状态空间模型；
5·Robot system is composed of plate auxiliary conveying manipulator, moving body and a 6 DOF series-parallel hybrid structure plate mounted manipulator.
机器人系统由板材辅助搬运机械手、移动本体和6自由度串并联混合结构板材安装操作机械手组成。