六自由度串联机械臂仿真及精度可靠性研究机械工程专业论文.docxVIP

广东工业大学硕士学位论文AB 广东工业大学硕士学位论文 AB STRACT Wkh the development of industrial mechanical arm，the study of mechanical arm is more and more deeply and widely．In many cases，the researchers study mechanical arm with the method of simulate the dynamic performance in the process of using mechanical arm， analysis the relevant data in the study of mechanical arm．In this paper,six-degree．of． freedom mechanical arm series as the research object，analyzing the kinematics and dynamics properties of six··degree··of-freedom serial mechanical arm and the factors of mechanical arm itself error influencing the end pose accuracy as the research target． Dynamics of mechanical arm for kinematic scheme and scheme for the simulation analysis， The simulation experiment using PD method to control mechanical arm，Set the error parameters，Using D—H method，perturbation error modeling，Monte Carlo method，normal distribution methods to analyze mechanical arm pose accuracy in error factors under the influence ofthe deviation and reliability sensitivity，In the entire research process，obtained some beneficial research． In order to analyze the kinematics and dynamics，，this paper uses the SimMechanics simulation module in MATLAB to establish simulation model of six degrees-of-freedom serial mechanical arm，and the kinematics and dynamics simulation analysis was carried out on the simulation model．In the process of simulation，eliminating the process of building mathematic model of the six degrees—of-freedom serial mechanical arm,the process of the simulation analysis of six degrees-of-freedom serial mechanical arm kinematics and dynamics is simple．In the process of the simulation analysis，by adding rotary joint angle signal to the simulation model of six degrees-of-freedom serial mechanical arm to calculate the end position，achieve the simulation of positive kinematics；By adding the end position signal to the simulation model to calculate rotating joint angle，achieve the simulation of reverse kinematics；By add