Structural Optimization Design And Kinematics Simulation Of The SCARA Robot

SCARA (Selective Compliance Assembly Robot Arm) Robot is also called planar joint type Robot, which now widely used in industrial production. The main objective of this thesis is to optimize the structure and analyze kinematics simulation concerning with SCARA robot, which may further improve its precision and stiffness and enable the robot to transport and assembly cargos. The main research work includes as follows:(1)Optimized design for SCARA robot mechanical structure. It includes determination of transmission scheme, selection of motor, design of the various joints and gripper and choice of materials. For improvement of precision and fitness of the robot, the analysis for error sources in the structure is undertaken to achieve structure optimization.(2)For the working environment requirements, the parameter of stepper motor, synchronous belt and gripper machinery is calculated. According to the calculation results, select the appropriate model. Checking the strength of the robot ensures the design of the robot meet safety requirements.(3)After the determination of all mechanical structure and parameters, SolidWorks software is used for 3D models and engineering drawings.(4)Based on the 3D modeling, the ADAMS software tool is used to conduct the kinematical simulation and feasibility analysis. The result of simulation proves whether the designed robot has the ability to transport and assembly cargos normally.(5)Through the comparison and analysis between the current plans, eventually, FPGA is adopted as the main controller. And the hardware system could be built to enable the robot to move by designing the MCU controller block, serial communication block, testing block, controlling block, memory block, display block, power supply block, JTAG interface and etc on respectively.