4-DOF SCARA 机器人结构设计与运动模拟摘要: 工业机器人是最典型的机电一体化数字化装备,技术附加值很高, 应用范围很广,作为先进制造业的支撑技术和信息化社会的新兴产业,将对未来生产和社会发展起着越来越重要的作用。本文设计了一个工业用 SCARA 机器人。 SCARA 机器人( 全称 pliance Articulated Robot Arm) 很类似人的手臂的运动,它包含肩关节肘关节和腕关节来实现水平和垂直运动。它是一种工业机器人,具有四个自由度。其中,三个旋转自由度,另外一个是移动自由度。它能实现平面运动,具有柔顺性,全臂在垂直方向的刚度大,在水平方向的柔性大,广泛用于装配作业中。本文用模块化设计方法设计了 SCARA 机器人的机械结构。分析了 SCARA 机器人的运动学正解和逆解,建立了机器人末端位姿误差计算模型并做了运动模拟。关键字:SCARA 位姿误差指导老师签名: 4-DOF SCARA robot design and motion simulation Student name : RaoXinlong Class : 0781052 Supervisor : XuYing Abstra ct: Industrial robot is the most typical mechatronic digital equipment , added value and high, wide range of applications , support for advanced manufacturing technology and information society, new industries, and social development of future production will increasingly play a The more important role. This paper designs an industrial SCARA robot. SCARA robot (full name pliance Articulated Robot Arm ) is very similar to human arm movement, which includes the shoulder elbow and wrist joints to achieve horizontal and vertical movement. It is an industrial robot has four degrees of freedom. Among them, the three rotational degrees of freedom, the other is the DOF. It can achieve planar motion, with the flexibility, the whole arm in the vertical stiffness, flexibility in the horizontal direction of the large, widely used in assembly operations. This method was designed with a modular design the mechanical structure of SCARA robot. Analysis of the SCARA robot inverse kinematics, and to establish the position and orientation of robot end of the model error. Keywords : SCARA analysis Signature of supervisor: 目录第一章绪论............................................................................................................... 1 ................................................................................................................ 1 ................................................... 1 SCARA 机器人简介....................................
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