六自由度并聯(lián)機(jī)器人運(yùn)動(dòng)學(xué)仿真vc畢業(yè)設(shè)計(jì)(存儲(chǔ)版)
【正文】 osite to mon parallel connection robot, which sturdy and control easily. With passing the time, the robot’s technique have been developing and consummate, the 6 DOF parallel connection robot have withdraw from the history step, but it actives in domain of education and science. The system is a model which basis on real 6DOF parallel connection robot and take advantage of Kinematics Simulation system of 6DOF parallel connection robot which invent by VC++. This system can search for parameter of robot and appear on the puter with data about robot process of movement. It can help the investigators watch the whole process of the robot’s movement and the data of the movement more frankly and clearly. It also improves the efficiency of the robot’s twain investigation and reduces the cost of the exploitations at the same time. Key words Parallel connection robot Kinematics Simulation Calculate of position Calculate of control 目 錄 摘要 ... I Abstract II 第 1 章 緒論 ... 1 課題背景 ... 1 目的和意義 ... 2 研究的目的和意義 ... 2 國內(nèi)外研究動(dòng)態(tài) ... 2 轉(zhuǎn)臺(tái)研究前景 ... 3 計(jì)算機(jī)仿真的優(yōu)點(diǎn) ... 4 系統(tǒng)設(shè)計(jì)思想 ... 4 第 2 章 可行性分析 ... 6 引言 ... 6 系統(tǒng)流程圖 ... 6 技術(shù)可行性 ... 9 運(yùn)行可行性 ... 10 本章小結(jié) ... 10 第 3 章 需求分析 ... 11 引言 ... 11 功能結(jié)構(gòu)圖 ... 11 系統(tǒng)數(shù)據(jù)流圖 ... 13 控制算法分析 ... 15 變換矩陣 ... 15 位置控制算法 ... 16 速度控制算法 ... 17 機(jī)器人的運(yùn)動(dòng)特性 ... 20 本章小結(jié) ... 23 第 4 章 總體設(shè)計(jì) ... 24 引言 ... 24 總體設(shè)計(jì)任務(wù) ... 24 軟件結(jié)構(gòu)圖 ... 24 本章小結(jié) ... 27 第 5 章 詳細(xì)設(shè)計(jì) ... 28 引言 ..
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