中文摘要：

应用牛顿-欧拉方法推导了6自由度机器人的动力学方程,在matlab中进行了编程求解。并应用ADAMS软件建立虚拟样机模型进行动力学仿真,用仿真的结果验证了编程计算的正确性。最后采用ADAMS的参数化分析方法,搜索出了满足一定约束条件下机器人各关节的最大驱动力矩,为机器人电机精确选型提供了参考依据。

英文摘要：

Applying the newton-euler method to build dynamic equation of a 6-DOF robot,programming to solute it in MATLAB.And using ADAMS to build the virtual prototyping,then carry out the dynamic simulation to verify that the program is correct.At the end,using parameter analysis method to search the maximum torque value under some of constraints,which provide precise reference for the choice of the motor type.