六自由度关节型喷涂机器人结构设计及研究-structural design and research of six-degree-of-freedom articulated spray robot.docxVIP

shaft.Keywords:Sprayingrobot,Mechanismkinematic,Rigidbodydynamics,ADAMS,Inertiamatch目录中文摘要..........................................................................................................................................I英文摘要........................................................................................................................................II1绪论.........................................................................................................................................11.1课题的来源及意义...................................................................................................................11.2喷涂机器人研究现状...............................................................................................................41.2.1国外研究现状....................................................................................................................41.2.2国内研究现状....................................................................................................................51.2.3发展趋势和国内存在的问题............................................................................................61.3论文主要研究内容...................................................................................................................72喷涂机器人结构设计.........................................................................................................82.1引言...........................................................................................................................................82.2喷涂机器人初步设计...............................................................................................................82.2.1喷涂机器人的设计要求....................................................................................................82.2.2喷涂机器人的本体机构选型............................................................................................92.3喷涂机器人中空手腕结构设计.............................................................................................102.3.1喷涂机器人手腕选型........