中文摘要：

针对6R工业机器人,在机器人连杆刚性的假设下,推导了机器人柔度矩阵.分析柔度矩阵将其划分为四个子矩阵：力-位移柔度矩阵、力-角位移柔度矩阵、力矩-位移柔度矩阵、力矩-角位移柔度矩阵.在非奇异位姿下,单独考虑力矢量（或力矩矢量）对末端线位移（或角位移）的影响,研究使末端产生单位变形时需要在末端施加的作用力,提出机器人力-位移、力-角位移、力矩-位移、力矩-角位移‘刚度椭球’,来表述机器人末端的刚度特性,为机器人刚度研究提供了一种新思路.最后以库卡Kr360机器人为例进行计算.计算表明对于Kr360机器人,在末端作用力矢量、力矩矢量在同一数量级时,可忽略力矩矢量对末端的作用效果.

英文摘要：

It focuses on industry robot with 6 degrees of freedom,and fexibility matrix of robot was derived under the assumption that the linksis rigid.A nalyzesthe flexib ility matrix anddividesit into four sub matrixes ： force-displacement flexib ility matrix,force -angular displacement flexibility matrix, torque -displacement flexibility matrix, torque -angular displacement flexibility matrix. At the nonsingular position,it takes the influence of force vector ortorque vector on the linear or angular displacement of the end into consideration separately,to find out how much force is needed when unit deformation of the end occurs,and put forward rigid ellipsoid of force-displacement,force-angular displacement, torque-displacement and torque- angular displacement to describe the stiffness characteristics of the end of robot,providing a new way to stiffness research for robot.The result showes that the end effects caused by moment vector could be ignored to Kr360 robot on condition that force vector and moment vector are in the same order of magnitude.