Research On The Key Technology Of High Dynamic Performance Of Planar Joint Robot

Recently, the productive efficiency was vital to the rapid development of the automotive, steel and construction industry. Industrial mechanical arm, with its high speed, high precision as well as its long duration of labor, plays an important role in the industries. In this paper, under the premise of considering the body design and transmission technology, the paper designs a kind of SCARA robot, which is based on the sorting of the product, handling of small parts and assembly work. The SCARA (Selectively Compliance Articulated Robot Arm) robot is the robot assembly that have flexibility in choosing the direction, has four DOFs (degree of freedoms), because the direction of the horizontal motion flexibility is good, and h vertical motion in the direction of high stiffness, is widely used in assembly operations. The main contents are as follows:In the first chapter, the mechanical arm of the selected type is investigated, and the content and significance of this research are discussed in the light of the present situation and development trend of the research in this paper.In the second chapter, According to the characteristics of the SCARA robot application, in combination with the actual needs of customers, using modular design concept to complete its body design, according to the job requirements to determine the primary and validation of transmission scheme comparison and selection, key parts and components, the size of the arm and the wrist part of the structural design, the modular design method can be applied to other type of robot.In the third chapter, Using the D-H method to design the SCARA robot motion system modeling, through equation transformation to realize kinematics, and realize the inverse kinematics solution combining with the algebraic method and geometric method. Considering the singularity in the process of movement, by calculating the robot Jacobian matrix, surprisingly straight position, in preparation for the robot trajectory is considered in the design of torque.In the fourth chapter, Analysis of several commonly used dynamic modeling method, choose Lagrange method to establish a SCARA robot dynamic explicit equation, using the most simple form of analysis of four degrees of freedom robot dynamic system. Due to four degrees of freedom robot system is nonlinear and highly coupled, so dynamic equations are often very complicated, compared with the Lagrange method to establish dynamic equation, so as to determine their impact on the total torque or power, properly remove non important items, get a simplified dynamic system for further analysis.In the fifth chapter, According to customer demand, combined with the actual, using three-dimensional mapping software to establish model, using the ADAMS simulation software to achieve the subject of a SCARA robot kinematics simulation, draw the motion curve of each joint performance index, key components of the verification and check analysis, the whole machine frequency analysis; Using MATLAB to realize this topic SCARA robot trajectory planning of five times polynomial interpolation of series of 3D simulation, confirmed that the system is practical and developable.In the sixth chapter, To repeat positioning accuracy, positioning accuracy, trajectory accuracy and repeatability, terminal velocity as the optimization parameters, under the premise of not affecting the job requirements, put forward the corresponding improvement measures, in order to improve the accuracy of SCARA robot. In view of the accuracy of optimization design, the prototype experiment is carried out to verify its accuracy.In the seventh chapter, Summary our work, and put forward the deficiencies and prospects.This paper through to the SCARA robot structure design, in order to improve the work efficiency, the precision of robot as the goal, select the four parameters of mechanical arm, according to the dimension of the mechanism is optimized, design and complete the prototype of body, experiment validation, given the same experimental conditions, through the comparison before and after the optimization of joint torque confirmed after body size optimization of robot dynamics performance has been significantly improved, to meet customer requirements.