关键词：光机电；机器人；冗余；运动学
摘 要：For the problems that the dexterity of movement was not enough,the grinding path was uncontinuous as well as the accuracy and efficiency were influenced while the gripper needed replacing,when complex curved workpiece was under grinding by six freedom degrees grinding robot,a new type redundant grinding robot,PPPRRRR,was proposed.A new type robot system coordinate and kinematics model of robot space were founded by the homogeneous transformation.Robot kinematics equations were derived.By ADAMS,the work space of robot was obtained.The relative position of the grinding contact wheel and robot was optimized by orthogonal test method.It lay the foundation for in-depth study of this type of grinding robot.