The Design Research And Control Realization Of One Kind Of 4-DOF SCARA Robot

Robots are typical equipments of mechatronics, which include the kinematics and dynamics theory, the mechanical design and manufacturing technology, the computer hardware and software technology, the control theory, the sensor technology, the artificial intelligence and so on. Robots are widely used in the fields of industrial production, defense technology and so on.The SCARA (Selectively Compliance Assembly Robot Arm) robots are widely applied in the repeat tasks such as conveying, jointing, assembly etc. for their flexible working space in the horizontal direction. One 4-DOF (Degree Of Freedoms) SCARA robot's mechanism and its control system were designed in this thesis, then manufactured the whole robot.According to the characteristic of the SCARA robot, firstly modular-design methodology was utilized to design the mechanism. Every module is independent, compact and easy to install. Some components can be used as reference to other robots. Also, some key parts of the robot have been designed detailedly, then they have been checked.Secondly, based on D-H method, models of the kinematics system were built. The kinematics positive solution can be deduced by a series of transformation equations, and the inverse kinematics can be deduced by the combination of algebraic and geometrical method. After that, according to the theories of dynamic analysis, the Lagrange method was applied to build a complete explicit dynamic equation of the robot. This equation can easily solve the dynamics of the complex system. Meanwhile, according to the analysis above and by analyzing the trajectory planning algorithms of the robot, the path planning algorithm in the joint space and a linear interpolation algorithm in the Cartesian space were talked over.In order to verify the rationality of the mechanism design and the trajectory planning result, the software ADAMS was used to perform the 3D simulation of the kinematics and the dynamics for the robot. The results of the simulation are the basis and the support of the theories for the practical applications.Finally, the whole robot was manufactured, then the control system based on IPC+PMAC was chose and built, the motion control was realized by software programming. The whole control system had satisfied test results:faster response, higher positioning accuracy and smaller repeat error after testing it.