1、摘要 - I - 摘摘 要要 文章综述了机器人近几十年来的发展状况及有关的问题， 并对圆柱坐标系机 器人进行了结构方面的设计。 对在圆柱坐标系机器人设计的过程中所遇到的问题 进行了初步的研究和分析： 对其结构选型、 设计计算作了定量的研究； 对其定位、 精度确定等问题进行了初步研究；对其发展历史、现状及其未来的发展趋势做了 一定程度的分析和探讨。本测量机结构为通过两根丝杠轴在电机的带动下转动， 实现 Y，Z 轴的移动，通过电机带动谐波齿轮，实现 Z 轴的转动，进而使机械手 有三个自由度。圆柱坐标系机器人已广泛应用于工业生产的各个领域， 关键词：关键词：圆柱形机器人，误差，精度，伺服电机 ABS
2、TRACT - II - ABSTRACT This paper reviewed the development of robots in recent decades the situation and related issues, and cylindrical coordinate system for the structure of the robot design. Cylindrical coordinate system in the process of robot design issues encountered in the preliminary research
3、 and analysis: Selection of its structure, design and calculation of quantitative research; its position on issues such as accuracy to determine a preliminary study ; their development history, current situation and future development trend of doing a certain degree of analysis and discussion. Struc
4、ture of the measuring machine screw through the two-axis motor driven in rotation, the realization of Y, Z axis movement, through the harmonic gear drive motor, the realization of Z-axis of rotation, so that there are three degrees of freedom manipulator. Cylindrical coordinate system the robot has been widely used in various fields of industrial production, Key words: cylindrical robot, error, precision, servo motor 目录 - III - 目录目录 第 1 章绪论 1 1.1 机器人工业发展史 1 1.2 工业机器人的定义 . 1 1.3 机器人的结构 . 1 1.4
