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中文摘要：
刚柔混合宏微机械臂是一类特殊结构机械臂系统，适用于空间大范围运动与精密操作任务。以2个柔性宏机械臂和2个刚性微机械臂构成的平面机械臂为研究对象，对其动力学建模、宏微空间分解、运动误差补偿与控制问题进行了研究，给出了较为详实的仿真实验结果，验证了采用刚柔混合宏微机械臂实现空间轨迹跟踪的可能性。
英文摘要：
The flexible--rigid and macro--micro manipulator is a special structure robot system, which is suitable to perform large motion with precise operation task. Taking a planar manipulator with two flexible--macro manipulators and two rigid--micro manipulators as study object, its dynam- ics modeling, macro--micro redundant space partitioning and motion error compensating method are studied. The detailed simulation results are given to verify the possibility to track space trajectory by using this type manipulator.
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Failure mode effect and criticality analysis of the underground mining environment detector test sys
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