摘要·················································································································I
Abstract ········································································································ II
1 工业机器人的研究现状········································································· 1
1．1 国外的研究情况介绍··········································································· 2
1．2 国内的研究情况介绍··········································································· 3
2 工业机器人设计建模··············································································· 3
2．1 UG 设计软件的介绍············································································· 4
2．2 机器人设计坐标系的构建··································································· 5
3 工业机器人本体设计原理分析 ······························································· 6
3．1 工业机器人的控制原理与特点 ··························································· 6
3．2 工业机器人动力学分析······································································· 7
3．3 工业机器人机械设计··········································································· 7
3．3．1 机械臂的设计················································································· 9
3．3．2 传动机构 ······················································································ 10
3．3．3 UG 模型的设计············································································· 11
4 工业机器人控制软件开发····································································· 12
4．1 软件开发环境 ···················································································· 13
4．2 工业控制方式 ···················································································· 14
5 结论与展望 ······························································································· 15
致谢·············································································································· 16
参考文献······································································································ 17
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