六自由度串联机械臂仿真及精度可靠性研究-机可械工程专业毕业论文.docxVIP

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