| Aiming at small-scaled assembled robot which applied widely in the field of industrial automation, this paper takes standard of industrial robot as reference to design a robot “SCARA”. It is equipped with four degrees of freedom which can accomplish assembling in the plane, and has great practicability and commercial value.This paper researches the state and trend of development for the industrial robot at home and abroad. Having read a large number of relevant reference documentations and planning “SCARA” robot from Mechanical Structure Ontology design to Control System design, it proposes a set of well completed solution to robot.Firstly, it has done Mechanical Structure Design and important components’ Selection Calculation for “SCARA” robot. And it uses SolidWorks software to make Stress Mechanics emulation analysis on big arm and small arm of mechanics.Secondly,Analysis of SCARA robot joint with 3rd and 4rd joint coupling motion and “SCARA” robot’s Kinematics Equation; What’s more, it has done analysis and research on trajectory planning in the space of joints and Cartesian coordinate system. Building model of “SCARA” robot via Matlab proves the calculation of Five Degree Polynomial Interpolation and Parabolic Curve Interpolation.Finally, after describes several common kinematic control method,it studies and makes Matlab emulation on “SCARA” robot model’s Inversion Adaptive Control Algorithm. It acquires great control effect, which plays certain progressive role in the practical application of this theory. |
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