A Study On SCARA Industrial Robot Based On Screw Theory Lie Group And Lie Algebra

In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra. Algebraic method is used to form solving equation and obtain closed-form solution for inverse kinematics. Using POE to solve the problem is much simpler than traditional methods, as coordinate is established and the relation between them is described by screw theory.Singularity of SCARA based on jacobian matrix is analyzed and the result indicates that singularity analysis is similar to the solution of planar two-link. It simplifies the problem for SCARA robot's unique mechanism and finds that the position at the boundary of fully expanded SCARA is singular.This paper introduces the screw theory to the error analysis, builds a screw-error model based on robot kinematics, and analyzes the characterization of error space which is induced by error sources in operative mechanism. The equivalent radius error sensitivity evaluation system is introduced to analyze the effects of error space when different dimensional errors are put on operative mechanism. It provides effective theoretical support for industrial robot design which requires different accuracy through evaluation and analysis of single error and the total error space.This paper analyzes the strengths and weaknesses of Multinomial Interpolation for joint space in Trajectory planning. Eventually it adopts cosine function for discrete interpolation in the inertial space trajectory planning. The trajectories stand for the velocity and acceleration of joint space after interpolation are smooth.The kinematics model and dynamics model are built for SCARA robot using screw theory. This method combines the features of Lagrange method, Newton - Euler method and screw theory, and is easy to solve. The relationship between robot design, control and the dynamics is discussed briefly.