And the new type of nonholonomic mechanism is putted into building a kind of manipulator . in this way we can only use two actuates to control the multiple joints 本文基于已有的非完整理论及非线性控制方法，设计了一种新型的非完整传动机构，并将这种非完整传动机构作为关节结构运用在多关节机械手臂上。
The proposed composed design / integrated optimization method makes the programming process simple , and the successful simulation results demonstrate the effectiveness of the proposed method 这种基于分离设计集成优化的步态规划策略极大简化了复杂多关节双足机器人的规划过程，仿真研究表明了该方法的有效性。
Scalar measure of fault susceptibility is defined using end error . minimizing this measure is an approach to achieving fault tolerance , and for this , mathematic model is constructed . then the contradiction between stability and optimization capacity are analyzed 随后对冗余度机器人运动学优化模型稳定性与优化能力之间的矛盾进行了讨论，并在此基础上进一步研究了机器人多关节优化问题。
Research results show that synchronous fault tolerant planning of joint motion and end - effector ' s motion for redundant manipulator is valid . the relationship between reduced manipulability index and center index is in - depth discussed . finally , fault tolerant planning for two coordinating manipulators is 结果表明，在两机械臂协调操作的容错运动规划时应尽量采用多关节性能指标，而避免采用单关节性能指标，这一点是双臂容错与单臂容错的本质不同。
Because the theories system of the involute spherical gear did n ' t build up completely , it is necessary to establish the model of the spherical gear and the spherical gear mechanism and to carry on various related analysis on the base of the theories we have had . moreover , to prove the validity of theory of the spherical gear mechanism will be useful to impulse the development of method and the application of spherical gear 但是球齿轮的理论体系尚未完全建立,有待完善,所以在已有理论基础上,建立球齿轮机构和基于球齿轮的多关节机械手模型,并对模型进行运动学分析,对证明球齿轮机构的理论的正确性和推动球齿轮机构的理论的发展和应用将会起到一定作用。
First , a realistic 3d human body model which integrates with anthropometric data and a method of 3d human body modeling and deformation are researched . secondly , a corresponding realistic 3d multi - joint reach - space model with limited joint rotating angles is presented . then , a motion editing and motion retargeting method which aims at motion capture data is applied to a work motion simulation in this paper 首先结合人机工程统计数据建立了简化的三维人体模型，并研究了参数化人体模型变形方法；其次探讨了多关节且关节转角受限制的三维人体尺度模型；然后介绍一种针对运动捕获数据的人体关节运动编辑和重定向方法，并将其应用于操作动作仿真。
Through the experiment on the test platform the above technologies have been widely testified . the performance of the angle driver of robot leg , dsp controller is proved to be effective . at the same time arithmetic of harmonize control is also be test to analyzing the control performance in different walking status 建立了机器蟹步行足控制实验平台，进行了步行足递阶控制器性能测试，并结合多关节协调运动控制算法研究，对步行足在不同步态情况下的控制性能进行了对比实验和分析。
