SUMMARYA robotic manipulator’s classical mechanical capabilities are governed by the design parameters (mass, geometry, dimensions, etc.) of its kinematic pairs and its architecture (number of limbs, degrees of freedom, actuation ability, etc.). Using Clifford-Algebraic and network theoretic methods, this work presents a novel-theoretical framework which allows any two robot architectures and design parameters to be mathematically related to one another through combinations of discrete operators or ‘reassembling transformations’. Two theoretical case studies involving a 6R manipulator and Klann linkage are furnished in this work.

中文翻译：

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使用网络理论和克利福德代数方法表征的机器人操纵器的重新组装变换

概要机器人操纵器的经典机械能力受其运动学对的设计参数（质量、几何形状、尺寸等）及其结构（肢体数量、自由度、驱动能力等）控制。使用克利福德代数和网络理论方法，这项工作提出了一种新颖的理论框架，该框架允许任何两个机器人架构和设计参数通过离散算子的组合或“重新组装变换”在数学上相互关联。本文提供了两个涉及 6R 机械手和 Klann 连杆的理论案例研究。