中文摘要：

针对一个6R喷涂机器人的传动系统,分析了系统中交流伺服电机、谐波减速器、同步带等零部件的刚度,并把传动链简化为由若干弹性元件串联组成的系统来计算各关节转轴的关节刚度,从而计算出手臂终端刚度矩阵,并分析各传动部件对末端刚度的影响,通过增加传动系统中关键零部件的刚度来提高手臂的刚度,从而提高机器人的整体刚度和手臂末端点的定位精度,所采用的串联系统刚度矩阵方法在机器人结构的刚度设计中具有一定的应用价值。

英文摘要：

Aiming at a transmission system of a 6-dof spraying robot, the stiffness of the alternating current servo motor, harmonic reducer and timing belt of the system of the robot was analyzed. The transmission chain was simplified a series system composed of a number of elastic elements to calculate the joint axis stiffness. The stiffness matrix of arm end could be calculated and inilunce of transmission elements to end stiffness was analized. The arm end stiffness, positioning accuracy can be improved by increasing the stiffness of key elements of the transmission system. Stiffness matrix method proposed in this paper has some practical value in stiffness design of robots.