单选题 The Chebyshev-Grübler-Kutzbach (CGK) formula for calculating total robot DOF is: F = d(N - g - 1) + Σf_i, where d is the mechanism order. For a spatial mechanism, d = _____. For a planar mechanism, d = _____. 计算机器人总自由度的Chebyshev-Grübler-Kutzbach(CGK)公式为F = d(N - g - 1) + Σf_i，其中d是机构阶数。对于空间机构，d = ____。对于平面机构，d = ____。( )

单选题 Without breaking the hinges, which door cannot be opened?
在不破坏铰链的情况下，哪一扇门不能被打开?( )

单选题 A homogeneous transformation matrix extends a 3×1 coordinate vector to a ____-dimensional vector, with the extra row typically set to ____. 齐次变换矩阵将3×1坐标向量扩展为____维向量，额外的行通常设置为____。( )

单选题 How many independent variables are required to uniquely determine a rotation matrix R? 唯一确定一个旋转矩阵R需要多少个独立变量?( )

单选题 For a two-degree-of-freedom planar manipulator, the matrix formed by the partial derivatives of functions with respect to joint displacements is called: 对于两自由度平面机械臂，函数对关节位移的偏导数所构成的矩阵称作( )

单选题 If coordinate system {B} is only translated relative to {A} (no rotation), the mapping between points is described by: 如果坐标系{B}仅相对于{A}平移(无旋转)，则点之间的映射由下式描述( )

单选题 In the industrial robot field, there is the "Big Four" concept. Chinese robot companies have risen rapidly and are catching up. Which of the following is a Chinese robot brand? 工业机器人领域有"四大"之说，我国机器人企业异军突起，奋起直追，下列属于我国机器人品牌的是( )

单选题 Compared with serial robots, which of the following is NOT an advantage of parallel robots? 与串联机器人相比，下列不属于并联机器人的优点是( )

单选题 A ____ vector (e.g., velocity) is defined by magnitude, direction, and dimension, while a ____ vector (e.g., force) also requires an identical line of action. ____向量(例如速度)由大小、方向和维度定义，而____向量(例如力)还需要相同的作用线。( )