机器人机构学理论进展的哲学思考与认识  

Philosophic Thought and Recognition of Theoretical Development of Robot Mechanisms

作　　者：杨廷力[1] 沈惠平[1] 刘安心[2] 罗玉峰[3] 

机构地区：[1]常州大学,江苏常州213164 [2]解放军理工大学,江苏南京213007 [3]南昌大学,江西南昌330031

出　　处：《常州工学院学报》2012年第5期1-8,共8页Journal of Changzhou Institute of Technology

基　　金：国家自然科学基金资助项目(50875261;51075045)

摘　　要：基于单开链单元的机器人机构学新理论体系的研究进展,对其研究方法进行了较为系统的分析与总结,内容涉及机构学理论体系的基本架构;引入新概念的特点与必要性;发现机构学中心法则的基本思想,如,系统的不变性(量)、拓扑结构的几何化、非线性问题的线性化、系统单元的层次结论、有序性与对称性;数学与机构学内在规律的结合以及对数学方法的改进等,期望能对其相关科学、学术研究有所启示。From the development of the new theoretical system of robot mechanisms based on single- opened-chain units,this paper makes a systematic analysis and summary of its research methodology. The main contents include： the basic architecture of mechanisms theory system, the characteristics and necessity of new concepts introduced, the basic ideas about discovering mechanisms central dogma--the invariance of systems, the geometrization of topology, the linearization of nonlinear problems, the level conclusion of sys- tem unit, and orderliness and symmetry--and the combination of inherent rules of math and mechanisms and improvement on mathematical methods, with the hope of shedding some light on other relevant scientific and academic research.

关 键 词：机器人机构学 理论体系 基本概念 基本方程 中心法则 基本思想 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]