二自由度檢修機械臂的研究.pdf

1、哈爾濱工程大學碩士學位論文二自由度檢修機械臂的研究姓名：王海燕申請學位級別：碩士專業(yè)：機械電子工程指導教師：孟慶鑫20070201哈爾濱工程大學碩士學位論文AbstractAsthedevelopmentofnucleartechnique，themaintenanceandinspectionofnuclearplantjsveryimportantSteamgeneratoristheimportantpartthispaperde

2、signmaintenanceandinspectionisusedsteamg％cratorsexaminingncpapercompletedtheconstitutionandspecificdesignofrobotwithtwoDOFresearchedthepositioncontrolsystemofsingleofrobotarmAt矗咄thepaperintroducedthedevelopmentsurveyofro

3、botformaintenanceandinspectionofsteamgeneratorsandexpoundedtheproiectthattherobotisinstalledinthetubesheetofSGbypushingmachineryandhydraulicmachinerybasedoncircumstancesandcontentsofworkinganddemandofrobotncworkingspa∞of

4、robotandmaximumtorqueeveryjointofrobotareobtainedbycalculationandthecourseofrobotinstallingisarranged11“kinematicmodeloftherobotwithtwoDOFisanalysedandestablishedandtheforwardandinversekinematicequationisobtainedTheJacob

5、ianmatrixisdeductedbasedonthismodeBecausethepositionandorientationeITOrSoftherobotendeffectorarecausedbyanumberoffactorssuchastoleranceinmanufacturingandassembly，mcchanicaltransfererrorsandSOon，thispaperanalysedtheerrorS

6、ofrobotbydifferentialmethodnepapermadesurethestructuredesignofjointinparticularadoptsthestructuretypeofcombinationofharmonicreducerandDCtorquemotorandthejointcomprisestwesolverswhichmeasoretheanglesofmotorandjointForthis

7、reasondimensionofthistypeofjointissmallandthetorqueofjointincreasesapparentlyncpaperresearchedthepositioncontrolsystemofjointofrobot11幛hardwareofsystemadoptsmodularstructureanditsfiatispersoncomputer皿csystemcontrolsthemo