本文讨论专用工业机器人(自由度不足6个)的关节综合,特别是偏置轴线的回转关节位姿的综合问题。为了得到唯一解,所给条件应满足相容性、完备性,还要注意独立性。机器人的位置姿态误差由初始误差、结构误差和位移误差三部分组成,三者相互叠加相互抵消,按其规律寻求相应的调整方案和补偿方法。本文给出全补偿条件和最佳补偿公式。 This article discusses the synthesis of specialized industrial robots (with less than 6 degrees of freedom), in particular the synthesis of the rotational axis pose on the offset axis. In order to get the only solution, the conditions given should satisfy the compatibility and completeness, but also pay attention to the independence. The position error of the robot consists of three parts: initial error, structural error and displacement error. The three cancel each other out and cancel each other. According to the law, the corresponding adjustment scheme and compensation method are sought. This paper gives the full compensation conditions and the best compensation formula.