Analysis On Structural Design And Dynamics Of SCARA Robot

With the increase of production automation,the application of robots in industrial production is becoming more and more popular.4-DOF SCARA robots are widely used in industrial robots of the plane assembly robot.In this paper,a 4-DOF SCARA planar assembly robot is designed according to the task.SCARA is designed on the basis of ADAMS software,and the modeling and simulation of the kinematics and dynamics of SCARA are carried out to validate the rationality of the design.The main contents of this paper include:(1)According to the requirements of the subject SCARA robot body structure design,key components selection and calculation,and to determine the transmission program.And then use Solidworks to follow the top-down design principles to establish SCARA robot entity three-dimensional model.Finally,ANSYS finite element software was used to analyze the static behavior of the big arm and the small arm,which verified that the desion meet the design requirements.(2)The structural parameters of the SCARA robot are analyzed by D-H method and homogeneous coordinate transformation theory.A kinematic model is established to solve the forward kinematics and inverse kinematics.Based on the solution of kinematics,the trajectory planning of SCARA robot in joint space is discussed.The simplified kinematics model of the robot is built by Matlab toolbox.The simplified kinematics model of the robot is built by Matlab toolbox.The kinematics and inverse kinematics of the robot are simulated and analyzed.The angular displacement,angular velocity and angular acceleration of each joint are obtained.The trajectory of the robot end,which verifies the correctness of the mathematical model.(3)On the basis of kinematics analysis,the dynamic performance of SCARA robot is analyzed.The Lagrangian method is used to model the dynamics of the SCARA robot by comparing the dynamic modeling method of the robot.(4)Using virtual prototyping technology,the 3D model established by Solidworks is imported into ADAMS.The simulation and analysis of the kinematics and dynamics of the SCARA robot are carried out by ADAMS.The simulation results of each joint are obtained.The rationality and practicability of the design are verified according to the force,velocity,acceleration curve and force analysis of each joint.The results show that the parameters obtained by the simulation are close to the actual parameters,which confirms the correctness of the established kinematics and kinetic equations and the rationality of the design.The analysis of kinematics and dynamics provides a theoretical basis for the reliability design of the robot.At the same time,the structure is optimized to find the problems in the design and improve the transmission precision.