銆€銆€姗熷櫒浜虹殑鍕曚綔椤炲瀷涓昏鍙互鍒嗙偤闂�(gu膩n)绡€(ji茅)鍕曚綔锛岀洿绶氬嫊浣�锛孉寮у舰鍕曚綔锛孋鍦撳姬鍕曚綔骞惧€嬮鍨�锛屾瘡绋嫊浣滈鍨嬮兘鏈夊叾鐗瑰畾鐨勪綔鐢ㄥ拰鎳�(y墨ng)鐢ㄥ牬鏅細

銆€銆€1.闂�(gu膩n)绡€(ji茅)鍕曚綔(Joint Motion,J)锛�

銆€銆€闂�(gu膩n)绡€(ji茅)鍕曚綔鏄鍣ㄤ汉閫氶亷鐛ㄧ珛鎺у埗鍚勫€嬮棞(gu膩n)绡€(ji茅)杌哥殑瑙掑害渚嗙Щ鍕曞埌鎸囧畾浣嶇疆鐨勫嫊浣滈鍨�銆傚湪闂�(gu膩n)绡€(ji茅)鍕曚綔涓紝姗熷櫒浜哄苟涓嶉棞(gu膩n)蹇冨緸璧峰榛炲埌鐩(bi膩o)榛炵殑杌岃贰锛岃€屾槸鐩存帴瑾�(di脿o)鏁村悇杌哥殑瑙掑害浠ラ仈鍒扮洰妯�(bi膩o)浣嶇疆銆�

銆€銆€浣滅敤锛氶棞(gu膩n)绡€(ji茅)鍕曚綔閬╃敤浜庨渶瑕佸皣姗熷櫒浜哄揩閫熺Щ鍕曞埌鏌愪竴浣嶇疆鑰屼笉鑰冩叜璺緫鐨勬儏娉�锛屽父鐢ㄤ簬姗熷櫒浜哄湪闁嬪绮剧⒑浣滄キ(y猫)鍓嶇殑瀹氫綅鎴栧湪涓嶉渶鎺у埗杌岃贰鐨勭矖瀹氫綅鍫村悎銆�

銆€銆€2.鐩寸窔鍕曚綔(Linear Motion,L)锛�

銆€銆€鐩寸窔鍕曚綔鏄寚姗熷櫒浜哄緸涓€鍊嬮粸绮剧⒑鍦版部鐩寸窔璺緫绉诲嫊鍒板彟涓€鍊嬮粸鐨勫嫊浣滈鍨�銆傚湪鐩寸窔鍕曚綔涓紝姗熷櫒浜哄伐鍏锋湯绔�(TCP)鏈冮伒寰竴姊濈洿绶氳粚璺＄Щ鍕�锛屽嵆浣挎槸鍦ㄩ棞(gu膩n)绡€(ji茅)绌洪枔涓粚璺℃槸闈炵窔鎬х殑銆�

銆€銆€浣滅敤锛氱洿绶氬嫊浣滃父鐢ㄤ簬闇€瑕佹部钁楃洿绶氳矾寰戦€茶绮剧⒑鎿嶄綔鐨勫牬鍚�锛屽鐒婃帴銆佸垏鍓�銆佸櫞婕嗙瓑锛屽洜鐐洪€欎簺浣滄キ(y猫)寰€寰€瑕佹眰宸ュ叿鏈鍦ㄤ綔妤�(y猫)闈笂淇濇寔鎭掑畾鐨勬柟鍚戝拰浣嶇疆闂�(gu膩n)绯汇€�

銆€銆€3.A寮у舰鍕曚綔(Arc Motion,A)锛�

銆€銆€A寮у舰鍕曚綔鏄寚閫氶亷涓€鍊嬩腑闁撻粸(閬庢浮榛�)渚嗛€茶鍦撳姬閬嬪嫊鐨勪竴绋柟寮�銆傚湪閫欑ó鍕曚綔椤炲瀷涓紝姗熷櫒浜烘渻寰炶捣榛炵Щ鍕曞埌涓€鍊嬮亷娓￠粸锛岀劧鍚庡緸閬庢浮榛為枊濮嬬暙鍑哄湏寮х洿鍒扮祩榛�銆�

銆€銆€浣滅敤锛欰寮у舰鍕曚綔甯哥敤浜庨渶瑕侀€茶鍦撳姬璺緫鎺у埗鐨勫牬鍚堬紝濡傛煇浜涚剨鎺ュ拰鎵撶（浠诲嫏(w霉)锛屽叾涓亷娓￠粸鐨勯伕鎿囧彲浠ュ劒(y艒u)鍖栭亱鍕曞钩婊戞€у拰閫熷害銆�

銆€銆€4.C鍦撳姬鍕曚綔(Circular Arc Motion,C)锛�

銆€銆€C鍦撳姬鍕曚綔鏄€氶亷瀹氱京涓€鍊嬪湏寮х殑璧烽粸銆佺祩榛炲拰鍦撳姬涓婄殑涓€鍊嬮澶栭粸(缍�(j墨ng)閬庨粸)渚嗗畬鎴愮殑鍦撳姬閬嬪嫊銆傞€欑ó鏂瑰紡鍙互鏇寸簿纰哄湴鎺у埗鍦撳姬璺緫锛屽洜鐐哄畠涓嶉渶瑕佸儚A寮у舰鍕曚綔閭ｆǎ渚濊炒閬庢浮榛炪€�

銆€銆€浣滅敤锛欳鍦撳姬鍕曚綔鍚屾ǎ閬╃敤浜庨渶瑕佸湏寮ц粚璺＄殑浣滄キ(y猫)锛屼絾鐩告瘮浜嶢寮у舰鍕曚綔锛屽畠鍙互鎻愪緵鏇寸簿纰虹殑鍦撳姬鎺у埗锛岄仼鐢ㄤ簬灏嶅湏寮ц矾寰戞湁鍤�(y谩n)鏍艰姹傜殑绮惧瘑鍔犲伐浠诲嫏(w霉)銆傛瘡绋嫊浣滈鍨嬮兘鏈夊叾鐗瑰畾鐨勫劒(y艒u)鍕㈠拰閬╃敤鍫存櫙锛屾鍣ㄤ汉绶ㄧ▼鏅傞渶瑕佹牴鎿�(j霉)鍏烽珨鐨勬噳(y墨ng)鐢ㄩ渶姹傞伕鎿囧悎閬╃殑鍕曚綔椤炲瀷銆�

銆€銆€闂�(gu膩n)绡€(ji茅)鍕曚綔閬╃敤浜庡揩閫熷畾浣�锛岀洿绶氬嫊浣滃拰鍦撳姬鍕曚綔鍓囬仼鐢ㄤ簬闇€瑕佹帶鍒惰矾寰戠殑绮剧⒑浣滄キ(y猫)銆傞€氶亷绲勫悎浣跨敤閫欎簺鍕曚綔椤炲瀷锛屾鍣ㄤ汉鍙互瀹屾垚寰�(f霉)闆滅殑浠诲嫏(w霉)搴忓垪锛屽鐝�(xi脿n)楂樼簿搴︾殑鑷嫊鍖栫敓鐢�(ch菐n)