机械与电子Issue(2)：74-77,4.
工业机器人关节柔性特征研究
Study on Flexible Deformation of the Joints of Industrial Robot
摘要
Abstract
Design a universal industrial robot of six degree of freedom. Study the flexible deformation of the joints. Establish the rigid and flexibility kinematics mathematical model based on the theory of DH and analyse and research the influencing factors of the flexibility joints,that based on the characteristic structure of the six degree of freedom robot and load condition. The major factors are the gravity of the load and robot. Get the relationship of the flexible deformation of joints and the influencing factors. Then draw the graphic about the flexible deformation and the influencing factors u-sing matlab. Study and research these graphics. Finally, we obtian all the flexible deformations of robot joints over the workspace with defferent load.关键词
刚性运动学模型/关节柔性/精度/运动误差Key words
rigid kinematics model/ flexible deformation / accuracy/ kinematics error分类
信息技术与安全科学引用本文复制引用
侯士杰,李成刚,陈鹏..工业机器人关节柔性特征研究[J].机械与电子,2013,(2):74-77,4.基金项目
国家自然科学基金资助项目(51175263) （51175263）
南京航空航天大学基本科研业务费专项科研项目(NS2011011) （NS2011011）
