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In this dissertation singularity avoidance Pith-Yaw-Roll joint apery arm-7 d o. f robot is designed and its inverse kinematics algorithm is studied It is an important problem in the field of redundant robot that inverse kinematics algorithm, and it is studied in this dissertation.

自1996年以来，我所在课题组承担了国家863网点基金项目：拟人手臂机器人系统的研制工作，本文论述了具有全方位无关节奇异的Pith-Yaw-Roll关节机构的七自由度拟人手臂机器人的设计及其逆运动学算法研究。

This paper through a three joint robot control system design, a more detailed exposition of the robot's joints modeling methods and processes.

本论文通过对一个三关节机器人控制系统的设计，较详细的论述了关节型机器人的建模方法及过程。

The metamorphic and mobile robot with eight joints and twelve degrees is symmetry mechanism and a pedrail mechanics connects with the box through a arm. The motions of pedrails, arms and the robot are controlled respectively by twelve engines and the metamorphic and mobile robot can change motive postures through the various positions controlled of the pedrails and the arms.

变形移动机器人是一种对称结构，有8个关节，12个自由度，每个履带结构采用一个加长臂和主箱体相连，履带、加长臂和机器人的移动分别用单独的电机控制，通过控制加长臂和履带的不同位置可以变换各种运动姿态。

The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot and has wide application value.

本文研制的水下船体表面清刷机器人是水下移动机器人的一种类型，具有广阔的应用前景。

To fulfill high precision of the movement, the omni-directional wheel is designed to serve as moving mechanism of the wall-climbing robot.

为满足超声焊缝探伤对机器人移动精度的要求，采用了称为麦克娜姆轮的全方位车轮作为机器人的移动机构，并获成功。

In this thesis, we contrast and study a number of new driving-principles and driving-modes of robot, then propose a new working principle and electromagnetic driving-system of the new wall-climbing micro-robot, and analyzed the power of the robot's driving-system.

论文首先对现有机器人的各种新型驱动原理及驱动方式进行了大量的分析对比研究，提出了一种适用于微小步行爬壁机器人的新颖工作原理和电磁直接驱动方式。

In Appendix Ⅰ, the major aspects of the author's research practice in a wall-climbing robot were given in details. Some of the principles and techniques achieved might be employed when the six-legged robot capable of both ground-and wall-walking is being developed.

此外，在附录Ⅰ中，详细介绍了一种壁面行走机器人的设计实践，其中一些已掌握的基本原理或技术可望被移植到地壁两用六足机器人的研制中。

The study on the wall-climbing robot in this dissertation builds a base for ulfilling automtic moving and working. Additionally, the success of developing the wall-climbing robot will contribute more to industry of cleaning service.

本文对于爬壁机器人的研究为实现爬壁机器人的移动控制和自主作业提供了理论、技术依据，同时该项目的研制成功为高层建筑清洗作业的自动化提供了重要手段。

Here, a special rack is designed, together with the complete range of equipment including air pump、sand storage tanks、rubber pipes of high pressure etc., the operation of sand-blasting is achieved.

针对机器人喷砂作业的要求，本文设计了专门的喷砂架，与空气压缩机、储砂筒、喷砂高压胶管等设备配套，实现了机器人的自动喷砂作业。

The One Where Ross Meets Elizabeth's DadJoey doesn't get along well with the roboticist who controls his co-star,"

和乔伊演对手戏的是个叫&奇思&的机器人，但乔伊却跟操控机器人的专家Wayne无法相处融洽。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。