六自由度大臂机器人
摘  要
六自由度大臂机器人采用夹持机构进行设计.夹持机构具有刚度大、承载能力强、误差小、精度高、自重负荷比小、动力性能好、控制容易等一系列优点可以作为航天上的对接器、航海上的潜艇救援对接器；工业上可以作为大件的装配机器人、精密操作的微动器；可以在汽车总装线上自动安装车轮部件；另外，医用机器人，天文望远镜等都利用了并联技术。
本文夹持机构的研究方向：
（1）六自由度大臂机器人组成原理的研究
研究夹持机构自由度计算、运动副类型、支铰类型以及运动学分析、建模与仿真等问题。
（2）六自由度大臂机器人运动空间的研究
（3）六自由度大臂机器人结构设计的研究
夹持机构的结构设计包括很多内容，如机构的总体布局、安全机构设计。
由于本人水平有限，文中的错误和不足在所难免，恳请各位老师给予批评和指正。
 
关键词：机械手；虚拟样机；夹持机构

Six Degrees of Freedom Robot Arm
Abstract
Six degrees of freedom robot arm with clamping mechanism design. The clamping mechanism has high rigidity, strong bearing capacity, small error, high precision, load / weight ratio, good dynamic performance, easy control and a series of advantages can be used as a submarine rescue docking docking, space navigation on the industry; as for micro robot assembly, large precision operation; can automatically install the wheel parts in the automobile assembly line; in addition, medical robots, astronomical telescope using parallel technology etc..
The research direction of clip holding mechanism:
(1) on the principle of six degrees of freedom robot arm
Study on the clamping mechanism, the calculation of degree of freedom motion type, hinge type and kinematics analysis, modeling and simulation etc..
(2) six degrees of freedom robot arm motion space
(3) study the structure design of the robot arm with six degrees of freedom
The structure design of clip holding mechanism includes a lot of contents, such as the design of the overall layout, mechanism of safety mechanism.
Because of my limited ability, mistakes and shortcomings in this paper and ask teachers to give the criticism and correction.
 
Key words： manipulator; virtual prototype; clamping mechanism