中文摘要：

设计了六自由度工业机器人，对其关节柔性进行研究；根据其结构特点和负载情况，基于DH坐标理论建立了其刚性运动学模型和柔性运动学模型，分析研究了对关节柔性的影响因素，这里主要是受负载和机器人部件本身的重力影响，得到各关节的柔性变化量与负载和部件本身重力之间的数学关系，并得到各关节柔性变化量与上述因素对应的曲线图，对其进行研究和分析；最终得到机器人关节在整个工作空间中不同位置对应不同负载时所产生的柔性变形量。

英文摘要：

Design a universal industrial robot of six degree of freedom. Study the flexible deforma- tion of the joints. Establish the rigid and flexibility kinematics mathematical model based on the theory of DH and analyse and research the influencing fac- tors of the flexibility joints,that based on the char- acteristic structure of the six degree of freedom ro- bot and load condition. The major factors are the gravity of the load and robot. Get the relationship of the flexible deformation of joints and the influ- encing factors. Then draw the graphic about the flexible deformation and the influencing factors u- sing matlab. Study and research these graphics. Fi- nally,we obtian all the flexible deformations of ro- bot joints over the workspace with defferent load.