| The SCARA (Selectively Compliance Articulated Robot Arm) robot is a kind of 4 DOFs(degree of freedoms) industrial robots, and widely used in assembly for its good vertical rigidity & horizontal flexibility.Firstly, modular-design methodology was utilized to design the mechanism, and some components can be used as reference to other robots.Secondly, based on D-H method, models on kinematics system are built.The kinematics forward solution can be deduced by a series of transformation equations, and the backward solution can also be deduced by the combination of algebratic & geometrical method, which facilitate programming.Meanwhile, by analysing the trajectory planning algorithms of the SCARA robot, the path planning algorithm in the joint space and a linear interpolation algorithms in the Cartesian space were introduced.Thirdly, the motion control system is designed, chose, builted, tested initially.Meanwhile, according to the theories of dynamic analysis, the Lagrange method is applied, building a complete explicit dynamic equation of SCARA robot.This equation can easily solve the dynamics of complex system.Finally, by means of Matlab, the simulation of kinematicsdynamicsb, and trajectory planning of quintic polynomial interpolation of SCARA robot are realized, which incease and facilitate the development of robot system. |
PDF Full Text Request