Research On SCARA-Tau Parallel Robot Based On Visual Servoing

Parallel mechanisms and robot visual servoing is the hot issues of current robot research: Parallelmechanism is more widely used, because it has many advantages such as big stiffness, stable structure,high carrying capacity, small error and high precision; Visual servo becomes the key to intelligentrobots because of its features such as non-contact, high reliability, information-rich and so on. In thispaper research intelligent parallel robot on both.In this paper first get the conclusion with screw method that SCARA-Tau structure has threemobile freedoms and a rotational freedom. And then set up the kinematics model. For the analysis ofSCARA-Tau structure’s work space, first get the work space with analytical method, and then solvethe speed jacobian matrix with vector method, at the last get the conclusion that the SCARA-Taustructure has continuous work space with the analysis based on speed jacobian matrix.On the basis of kinematical analysis, design the adaptive fuzzy PID control system, so don’t needto establish the SCARA-Tau robot’s accurate model. With this method the robot system doesn’t haveclearance and nonlinear factors, so has high control precision. For intelligent robot, in this paperintroduce the visual servo for robot control to get robot control and visual servo together, and design akind of robot visual servo system with no calibration. The visual servo system does not need to buildan accurate model, so has strong anti-interference ability and high control precision for the complexwork environment.On the basis of theoretical analysis, design the hardware structure of this SCARA-Tau parallelrobot based on visual servoing, use modularization method to get complete system framework, andanalyze the work flow of the system.