Self-aligning bearing

This paper discusses the basic formation of multibodied selfrecovery robot and the composition of joint between adjacent robot bodies.

本文在探讨多肢体自位机构的基本构形、相邻肢体间连接关节组成方式的基础上，以肢体间三个单自由度关节或四个单自由度关节的自位机构为对象，进行了机构学型谱研究，得到两大类自位机构的所有构形，并按照一定的原则，对所得到的型谱进行了筛选。

おealising the selfrecovery ability is a common problem for better performance and autonomous walking of legged robots under unstructured environments.

实现自位功能是改良非结构环境下步行机器人运动性能和提高其自主行走能力的共性问题。

The bearing's structure characteristics have been analyzed and its lubricating system and self-aligning device have been described briefly.

分析了5m轧机油膜轴承的结构特点,简述了厚板轧机油膜轴承的润滑系统及油膜轴承的自位机构,并结合轧机调试时出现的问题对自位机构进行分析和改进。