摘要: This research project has involved studying methods for Synthesis and Simulation of robotic motions. The emphasis has been on the development of a scientific foundation for design synthesis as well as computer graphics based high performance simulation for multi-degree of freedom motions in general and robotic systems and components in particular. Background Military applications of robot manipulators are usually different from the commercial manufacturing applications in that robots are used in the unstructured field operations where there is a need for long reach, redundant degrees of freedom, high payloads and on site calibration and targeting. Commercially available robots are usually designed for the more structured manufacturing applications and therefore are not suitable for such field operations. Military robots are therefore custom designed for each application. This means that there is a need for a …