摄像机械手结构设计及运动学方程求解

针对传统拍照方式和大型摄像吊臂存在的问题和弊端，设计一种可以实现摄像吊臂功能的机械手。对摄像机械手的关节个数及运动副进行设计，使其完成摄像吊臂的基本功能。并通过Denavi-Hartenberg（D-H）方法，建立机械手的运动学数学模型，且进行了正、逆运动学分析，实现了摄像机械手的运动学方程的求解。

Camera Manipulator Structure Design and Solution of Kinematics Equations

As the traditional way of taking photographs has many problems and the large-scale camera has some disadvantages,a camera manipulator instead of the functions of camera crane was designed.The number of joint of the camera manipulator and deputy campaign were designed to complete the basic functions of camera crane.By D-H methods,the manipulator kinematics model was established and the positives and inverse kinematics analysis were carried out.Thus the equation of the camera manipulator was solved.