Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
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The article introduces the mechanical and hydraulic configuration of rotation drive system and describes the control concepts on the rotation, compensation and synchronization of the manipulator.
This article presents main structure, function and teaching method of the teaching_playback arc_welding manipulator system which is applied to repair hydraulic turbine blade.