1、東北大學碩士學位論文CINCINNATI機器人運動學和動力學的研究與仿真分析姓名：李延富申請學位級別：碩士專業(yè)：機械制造及自動化指導教師：胡明20050201東北大學碩士學位論文ABSTRACTSimulationAnalysisandStudyonKinematicsandDynamicsofCINCINNATIRobotAbstractAnindustriaIrobotiSakindofhightechproductscombine

2、dbymechanicaltechnologyandelectronictechnologyAdoptingindustrialrobotisakindofeffectivemethodofimprovingqualityofproducts，raisinglaborproductivityrealizingautomatizationofproductionprocess，improvingworkingconditionsandli

3、ghteninglaborintensityTIlisthesisismainlyconcernedaboutresearchonkinematicsandsimulationofCINC州ATIRobotFirstlythisthesiscarriesoutkinematicsanalysisItmainlydevelopsthematrixoftherobot’spositionandattitudeusingthemethodof

4、DH，andachievestheforwardkinematicalequationofrobotmanipulatorBycarryingthroughinversetransformationtOtheforwardkinematicalequation，theinversekinematicalequationhasbeenderived，anditcarlproducefourgroupsofsolutionnlesimula

5、tionOilMatlab65provestheinversekinematicsequationisineffectSecondlythisthesisdissertatethegraphicmethodoftherobotworkspacenlccomputersimulationofworkspacehasbeendoneonMatl曲65basedontheexpressionof也emanipulatorcoordinateT

6、heresultsindicatethetwomethodsareunanimous111efunctionaltargetofworkspaceiSalSOstudiedThehand’sdexterityisdiscussedT11ispaperdescribesthehand’sdexterityatdifferentpointsofworkspaceAnd011thebasisoftheresults，thebestworkin

7、gregionofrobotisgainedThirdly，thisthesisbuildupdynamicsandkinematicsequationofmanipulatorwhichbelongtoarticulationrobotwithsixdegreeoffreedomandthevelocityJacobianmatrixwasconstructedusingvectorproductmethod，andthevalues

8、ofdisplacementandvelocityofsomespecialpointincludingthewristpointwerecalculated，Theseworksprovidedabasistothestrncttuedesign，kinematiCSanalysesandcontr01Finally，throughcreatingthemodelsofmainpartsbytheuseofProrE，arobotas

9、semblyissetup1krobotarm’skinematicsanddynamicsWassimulatedbyusingsoftwareADAMS，andthesimulationresultWasanalyzedIntheexperiment，theauthortriedtoBsethevirtualprototypingtechnologyinmechanismdesignKeywordsRobot，Kinematics，