Research On Multi-objective Optimization Design Of SCARA Robot

As one of the digital intelligent equipments in the intelligent manufacturing system,SCARA robot has some excellent features such as the high working speed, high precision,simple structure and easy to control. With the development of industrial automation technology, more and more SCARA robots are used in the productive process. It put forward more requirements on robot arm stress, workspace area and terminal deflection.This paper is based on the pre-research project of Shanghai Science and Technology Commission( The technological development of multi-axial servo manipulator and the key parts with high reliability and precision, 13dz1100501), and the research work was mainly carried out in the NO.21 Research Institute of China Electronics Technology Group Corporation and made good progress.The connection property between robot joints was studied by analyzing the constitution and the transmission scheme of SCARA robot. Dynamitic model was established and forward & inverse kinematics were analyzed, the robot arm finite element model was established in the ABAQUS software.The add-on functions’ development of the model was conducted in Python language and the ABAQUS running script was imported to the multi-objective optimization design model based on modeFrontier. The NSGA-II algorithm was used to solve the multi-objective optimization design model which makes the arm deformation minimum and the mess minimum. After getting the Pareto solutions set, the MCDM method based on modeFrontier was used to select the final solution.Then the rigid-flexible coupling multi-body model was used to analyze the robot terminal deflection change curve in the robot working process. And the robot pose with maximum deflection was determined and the robot whole body finite element model was established in this position for solving the robot terminal deflection. The NSGA-II algorithm was used in the multi-objective optimization design model based on modeFrontier to solve the Pareto solutions set of robot arm length distribution based on theworkspace area maximum and the terminal deflection minimum. Then the MCDM method was used to select the Pareto solutions, the installation space and precision must take into account at the same time.According to the optimized calculating results, the prototype has been made in the No.21 Research Institute of China Electronics Technology Group Corporation.and the positioning accuracy test was carried out.The experimental results verify that the optimization calculation and analysis are in full compliance with the requirements of design.The project of this paper is sourced from the actual engineering demand, and research results have been tested with a good effect, which verifys that the methods and results in this research have certain practical reference value.