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分析了水轮机叶形修磨机器人双三轴相交的特殊结构．在建立连杆坐标系的基础上，采用Ｄｅｎａｖｉｔ－Ｈａｒｔｅｎｂｅｒｇ方法建立其运动学模型，进行运动学、逆运动学求解．为计算机控制提供控制参数，进而为运动学优化提供了理论基础．
The special structure of double-triaxial intersection of hydro-blade grinding robot is analyzed. Based on the establishment of the connecting rod coordinate system, the kinematics model is established by Denavit-Hartenberg method and the kinematics and inverse kinematics are solved. Provide the control parameter for the computer control, and then provide the theoretical basis for the kinematics optimization.