System Design Of SCARA Robot And Its Research On Planning & Control

With the development of the process of industrialization, there are more and more extensive application of industrial robots. Industrial robots are widely used in field of welding, handling, assembly, painting, palletizing and other industrial applications.This study designed a SCARA industrial robot for the operation of stampings handling tasks. SCARA robot has four DOFs(degrees of freedom), three rotary DOFs and one linear DOF. SCARA robot is widely used in assembly. This study designed the mechanical structure and the teaching box system of this SCARA robot, made a prototype to meet the need of task, and research on the motion planning and robot control algorithms, and did some experiments to show the result.There are six chapters in this chesis as follows:The first chapter introduces the historical development, status and trends of industrial robots, and analysis the domestic and international application of the industrial robots. Then combined with our actual situation by developing and using industrial robots, we point out the shortcomings and weaknesses, and finally put forward the specific content of this research paper and work requirements.The second chapter completed the structural design of the SCARA robot for the operation of stampings handling tasks. It mainly contains choosing the structure and transmission mode for the robot, design and computing of the key components, the verification and simulation of the key joints in SOLIDWORKS, etc. Engineering Drawing and assembly are also done in this chapter.Based on the entire design of the SCARA robot control system, ChapterⅢdescribed the realization of the ARM9-baseed teaching box's hardware. It mainly shows how each module of the SCARA robot works, suck like the core-board, power module, communication module and the touch screen module, etc.ChapterⅣported the embedded-Linux operation system to the teaching-box hardware system, and built Qt-based graphical interface environment. Then we figured out the robot's kinematic equation and inverse kinematics equation based on the D-H parameter table, explore the trajectory planning issues, finally completed the teaching box programming. Robot system is a complex multi-variable motion control system, there are many noises and nonlinear factors, so the control of robot is quite complicated. The traditional PID control can't meet the high-precision robotic movement requirements, this chapter uses a single neuron adaptive PID control algorithm for the nonlinear robotic system, and the experimental result shows that the algorithm improving the control effect and tracking precision.The last chapter summarizes the whole studies of this thesis, and also makes prospects for further research.