Analysis And Optimization Of The Structure Of 4-dof Scara Robot

The industry robot generally refers the robot which is used in the mechanical manufacturing industry, replacing the human to complete the mass and high request work, such as the automobile manufacture, the motorcycle manufacture, the ships manufacture, and the work of spot welding, the arc welding, the painting, cut, the electronic assembly and the transporting, the packing, piles buttress in the automatic production line of certain electrical appliances manufacture and chemical industry and so on. It is the integrated application of technological theory, such as kinematics and dynamics theory, mechanical design and manufacture technique, the hardware and software of computer technique, control theory, sensor technology, the theory of artificial intelligence and so on. The application and exploitation of robot technique indicate the science and technology level of a country. What's more, its usage and prevalence in some industry fields revealed the synthetical strength of a country's development in economy and technology.Robot technique is the synthetical application of many subjects. In numerous types of robots, SCARA Robot has biggish flexibility in plane movement and strong rigidity in lift axes movement, which is very propitious to be applied to repeating task such as conveying, jointing and assembly and so on, so it is applied widely in industry production. This thesis based on the structure of the 4-DOF SCARA Robot and stressly investigated the problem of the analysis and optimization of the structure of 4-DOF SCARA Robot.Firstly, based on the software Pro/E, designing the overall structure of the SCARA Robot. During the process of structure design, many methods, elements, requirements and principles are discussed in detail. The optimized design structure and dimension are got by comparison and analysis of the different design parameter and structure; dexterity analysis results of 4-DOF robots with different structures are given, and the results are compared with other structures of SCARA Robot within the same workspace. The influence of structural parameters on robot dexterity is analyzed, which can serve as useful reference to robot designers. This kind of method can give the dexterity analysis result before detailed design, and can enable designers to select robot structure and parameters according to task requirements.Secondly, the kinematics emulation of the robot is analyzed and the structure is optimized. Afterthat each arm model is founded, besides the displacement, stress, mode are analyzed by ANSYS software, and the optimized structure is selected, sequentially the design is confirmed and the rationality of project is validated.Finally, according to the requirements of system for the rapid response, smooth work, after the comparison of various forms of servo system and the electrical theory, have chose various joint drive ways on the SCARA Robot, AC servo motor and reducer to realize motion control of robot, so that robot system design is optimal at last.