A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.

• 采用D-H后置法建立了4R机器人运动方程,建立机器人执行机构在空间相对位置关系的数学模型,由此可解出手部位置和用单位矢量方向余弦表示的姿态。