The Recursion Algorithm Of The 7R Manipulator Motion Analysis

The paper presents a recurrence method of Manipulators kine's matics. The method is obtained in terms of matrix method. The coordinate axis orientation of one coordinate frams in another coordinate frams is obtained by a qroup of recurrence formula. First we make a principle of bulding coordinate frams to reduce the sort of structure parameter, and a simple recurrence formula is obtained by using the principle. The paper analysis direct and indirect positon problem, and give a new method to define tree-structure solution.by application in this paper, recurrence methed is clear and difinate. The resulting eqvation involve the mimmum number of mathematical operations. The paper analysis velocity and accelaration of TR Manipulate and compile the procedure of kinematical calculation of TR Manipulator finally.