中文摘要：

当机器人构型不满足Pieper准则的时候,传统的运动学建模方法通常无法求出机器人逆运动学解析解.针对不满足Pieper准则的机器人构型,基于相邻关节轴换位前后正运动学结果不变的准则,提出一种全新的运动学建模方法——相邻关节轴建立顺序换位法,并给出了适用该方法的机器人构型条件.以一种不满足Pieper准则的微创腹腔手术机器人为例,应用该方法求解出其精确的解析解,并通过Matlab Simulink仿真验证了该方法的正确性.

英文摘要：

The analytical solution of robot inverse kinematics can＇t be obtained by traditional methods of kinematical modeling when the robot configuration doesn＇t conform to the ＂Pieper criterion＂. For this problem, a new method of ex- changing the establishment order of adjacent joint axes is presented based on invariance property of the forward kinematics results after exchanging the establishment order. The robot configuration conditions for applying the proposed method are given. A minimally invasive surgery robot which doesn＇t conform to the ＂Pieper criterion＂ is taken as an example, the precise analytical solution is obtained by the proposed method, and the correctness of the proposed method is verified through Matlab Simulink.