摘要:在高速发展的现代化社会中，随着科技的不断进步、市场的飞速发展，机械手已得到了广泛的应用，在未来的制造行业中，将会有越来越多的机械手被应用，越来越好的机械手被创造。机械手是人类跨向先进制造领域的一个重要标志，是人类走向现代化、高科技进步的一个象征。因此如何设计出一个功能强大、结构稳定的机械手，是现目前人们研究的一个热点课题。

　　　本论文主要是通过三维软件工具UGNX4.0对日本EPSON机械手PS5-AS00进行逆向研究。首先从空间机构自由度和运动学方程两方面对机构进行理论研究，得到机械手的自由度和运动学方程。之后运用UGNX4.0建立全部零部件三维模型，经装配建立机械手三维虚拟模型，并对该模型进行干涉分析，消除零部件之间的冲突。接着运用UG/Motion模块建立机械手仿真模型并进行运动学仿真，模拟机械手的实时运动状况和规律，为以后的优化设计工作做准备。

关键词：机械手；自由度；运动学方程；建模；运动仿真

ABSTRACT:As technology continues to progress in the rapid development of modern society, the rapid development of the market, the robot has been widely used in the manufacturing industry in the future, there will be more and more robotic applications, more and more good robot was created. The robot is an important symbol of the human cross to the field of advanced manufacturing mankind towards a symbol of modern, high-tech progress. Therefore, how to design a powerful, stable structure robot is a hot topic in the present study.

　　　In this thesis, through three-dimensional software tools UGNX4.0 EPSON robot PS5-AS00 in Japan to reverse. First theoretical research institutions from the two degrees of freedom and kinematic equations of the space agencies, the robot's degrees of freedom and kinematic equations.UGNX4.0 after use three-dimensional model of all the parts to build three-dimensional virtual model of the robot, assembly, and the model for interference analysis to eliminate the conflict between the parts. , UG / Motion, module and then use simulation model of robot kinematics simulation, real-time simulation of the robot movement conditions and laws, in preparation for the subsequent optimization of the design work.

Keywords: Manipulator; Degrees of freedom; Kinematic equations; Modeling; Motion simulation