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《Journal of South China University of Technology(Natural Science Edition)》 1991-01
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SCREW MOTION ANALYSIS OF A ROBOT AND SPATIAL MECHANISM

Yan Jun. Wu Jin and Li Dewei (1st Dept. of Mech. Eng., South China Univ. of Tech.)  
Spatial motion of a rigid body can be seen as a screw motion of the body along a specific axis. In accordance with the above principle the screw theory is presented to analyse the relative motion of a robot here. The screw motion equation presented is also suitable for closed chains, i. e. spatial mechanisms.
【CateGory Index】: TP24
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