Scara Robot Virtual Experiment Platform Based On Labview Development

Based on Object-Oriented Methodology, the virtual experimental platform of a SCARA robot was successfully set up with virtual instrument software LabVIEW, which can be used in teaching and training, and provide an object for scientific research. The main contents of this paper are as follows:1. The technique of kinematics modeling and trajectory planning is introduced on the basis of the full analysis of the mechanical system of SCARA robot. The kinematic model of SCARA robot was built. The kinematic positive answers and negative answers were also given. Using the velocity transmission method, generalized jacobian matrix of a SCARA robot was present. And trajectory planning of robot was carried out in the joint space and right angle coordinate space, on the basis of analysis of kinematics about SCARA robot.2. On the basis of the lagrangian approach, the dynamic equation of SCARA robot was decoupled. Joint torque and moving path of robot hand consisted of displacement, velocity and acceleration were related by the dynamic equation. Thus laid a foundation for computerized servo control system.3. A mathematic model was set up through analyzing the structure of one kind of servo driver system. And simulation experiments were carried out under Matlab environment, and the conclusions prouide the foundation for drive system of the Virtual Lab Platform.4. Using the unified modeling language (UML), this paper analyzes the system of virtual experimental platform functions, designing the system structures and set up the system architecture and software prototype, which established the theoretical model for further analysis and research. With this approach, the inconsistency of the analysis and design model in traditional software development methods was solved. 5. The integration of the virtual experimental platform of a SCARA robot was done based on LabVIEW: (1) Leading SolidWorks model of SCARA robot to software LabVIEW, the model was assembled again in the LabVIEW. (2) the system software was designed by means of object-oriented programming in LabVIEW according to application model built using the unified modeling language (UML). (3) System of AC Servomotor Controlled built in Matlab/simulink was lead to software LabVIEW with LabVIEW Simulation Interface Toolkit.6. Taking the GRB2014 industrial robotic installation which made by googol technology (shen zhen) Ltd as the experimental platform, a test was finished for the virtual experimental platform of a SCARA robot. The simulated results were well in agreement which experimental ones. The theoretical analysis and experimen -tal results prove that system was reasonable.