论文部分内容阅读
本文先定义了欠秩机构；接着研究了欠秩机构的瞬时转轴和连续转轴，并重点讨论了该机构移动的直线路径、纯转动的圆弧路径和纯滚动运动的各种渐开线路径．给出了其工作空间中单纯性运动路径的图谱，以方便机器人路径规划
In this paper, we first define the under-rank mechanism. Then, we study the momentary axis and continuous axis of the under-rank mechanism, and focus on the various involute paths of the linear path, the purely circular arc path and the pure rolling motion. A map of simple motion paths in its workspace is given to facilitate robot path planning