Design And Research On The Structure Of SCARA Robot For Shoemaking Glue

In order to improve the degree of automation of China’s footwear industry production, to improve the harsh working conditions, this paper put forward SCARA shoe glue robot for the footwear industry, realizing the automation of shoe-making gluing procedure by using SCARA robot technology, improving product quality and production efficiency. At the same time, reducing the emission of toxic gases and realizing green production.SCARA industrial robot is one of the most widely used robot in modern industrial production, its characteristic is the movement in the space plane very flexibly, and has the characteristics of fast speed, high efficiency.The research combined with the problems faced by the shoe-making gluing operations, analyzing the application features of SCARA robot. On the premise of known shoe-making gluing production line space, analyzing the specific parameter of setting robot, determining the transmission scheme of the system, and designing structure of the robot big arm and the small arm joint; Establishing3D model and analyzing the static force for robot big arm and the small arm through using Solidworks software to verificate the reliability of the large arm and the small arm, Structure design of big and small arms can meet the requirement of mechanical strength.Research on kinematics, the kinematics theory of knowledge as a foundation, based on the Denavit-Hartenberg method, the kinematics model of SCARA robot, using the transformation equations, algebraic method and geometric method for the analysis of inverse kinematics solution. Using the trajectory planning of robot technology, Researching linear interpolation method and the joint space trajectory planning algorithm of robot Cartesian Space Design.Researching dynamics, according to the existing dynamics analysis method for SCARA robot, establishing the complete dynamic equations of SCARA robot by Lagrange, analyzing complex systems of dynamic based on the simplest form of energy.At the end of the planning results, in order to test the rationality of motion of robot, making kinematics simulation of SCARA robot design by using ADAMS software. Through the simulation, the change curve of the displacement, velocity and acceleration in the normal movement can be obtained at the end, the simulation results can be applied for the robot to provide theoretical basis and technical support in the actual application.