The following is the main work and results:Based on the definition of Cartesian coordinates fixed on different linkages, the kinematics model of the robot is established with Denavit-Hartenberg method.

• 主要工作如下:在建立连杆坐标系的基础上,采用Denavit-Hartenberg方法建立了铺丝机械手的运动学模型。