Research And Development Of The SCARA Industrial Robot And Trajectory Planning

The performance of the industrial robots designed and produced of domestic is not high,unstable operation, and low repetition accuracy. In order to fundamentally solve theseproblems, using more advanced mechanical structure and lighter-higher strength materials inthe robot design is necessary. At the same time, to establish the accurate kinematic model andmake the bottom of the trajectory planning algorithm is also important.In this paper, Four DOF planar multi-joint robot is designed; theoretical research andexperimental verification are carried out systematically. The research consist of using virtualprototyping technology and modular design method to design the mechanical structure of theSCARA robot, establishing an accurate and simple kinematic model of SCARArobot by D-Hmethod. Based on inverse dynamics modeling and trajectory planning, optimal reductionratios are planned with genetic algorithm. The optimization method can also be used to makefull use of the advantages of the AC servomotor and consequently reduce the cost ofmanipulator. Using virtual prototyping technology, we have a reasonable assessment of theperformance of the kinematics and dynamics of the SCARA robot based on ADAMS.The robot uses industrial PC-based open motion control system architecture as the robotsystem, designing the hardware and software of the control system. The robot control systemsoftware is developed by using the C#language under the Windows XP environment, so it iseasy to upgrade the robot’s function.On the basis of the four DOF planar multi-axis robot trajectory planning methods havebeen studied, the research focuses on the complex path trajectory planning in Cartesian space.The high-precision interpolation algorithm of the complex path trajectory based onnon-uniform rational B-spline curve (NURBS) is given. At the same time, this paper elaborateon the details of complex path trajectory in Cartesian space.Finally, this paper use the five-pointed star-shaped and butterfly-shaped non-uniformrational B-spline curves (NURBS) as the examples, the results of trajectory planning is testedon the physical prototype of the robot developmental in this paper. The experimental resultsshow that the robot and its control algorithms significantly reduce the trajectory error andhave a good kinematic and dynamic performance in a continuous complex path trajectory.Further research and domestic industrialization of SCARA robot are prospected，whichprovides a reference for the following research and design.