Design And Research On Scara Planar Articulated Assembly Robot

Since the21st century,with the rapid development of industrialization,theproduction level of automation is increasing day by day,so that the application ofindustrial robot is becoming more and more wide,and plays a particularlyimportant role in welding, assembly, handling, painting and palletizing industrialapplications.Considering that the work requirement is for handling small parts and forassembly,a kind of SCARA industrial robot could be designed,SCARA(Selective Compliance Assembly Robot Arm) is the robot assembly that haveflexibility in choosing the direction,comparing with the general articulatedrobot,it have a good flexibility on the plane,and have a high rigidity inperpendicular direction,and is quite suitable for the movement of the assemblyoperation.In the thesis,the overall structural design of SCARA robot wascompleted,and the key structure has been improved and calculated;Thekinematics simulation on trajectory planning was done;Based on a dedicatedmotion controller,motion control system was designed;so the entire robot systemwas completed.Considering that the work requirement is for handling small parts and forassembly,the design principle of from bottom to top is followed,underSolidworks environment,the structural design of the robot was completed,theapplicable transmission program of design was determined,further,the drivesystem was improved,in addition to,the key components were calculated andselected,the reasonableness and feasibility of the design were demonstrated tolay the foundation for manufacturing and assembling,so the construction of themechanical system was initially completed. The finite element model of the big arm of SCARA was established byapplying the ANSYS Workbench,through statics analysis,the stress nephogramand displacement nephogram were obtained;And through the modal analysis,1-6modal vibration mode figure were obtained, proved that the precision andstiffness of the big arm meet the design requirements.On the Basis of the D-H method,the robot was kinematics modeling,thepositive and inverse kinematics equations were obtained, then by using themethod of joint space robot,trajectory planning of robot was studied andgenerated, and taking the cubic polynomial interpolation function for example, inconjunction with the design, a robot’s joint was calculated and planned,andtrajectory function was obtained correspondingly.Then by the way of theSolidworks motion simulation software,the kinematics of robot was simulatedand the correctness of the trace function was verified.On the basis of the mechanical system design,combining with the existingmotion controller in lab,the motion control system was designed,and thestructure of "PC+motion controller" was achieved,then the DMC5400dedicatedmotion control card and programming tools of based on C++Builder6.0softwarewere introduced,and the practice proved that the structure played a great role inthe stability,reliability and immunity aspects in the industrial field.