| Industrial robots are widely used in automobiles,semiconductors,printed circuit boards,electronic products for handling and assembling work.The extensive use of industrial robots has greatly raised the automatic production level,labor productivity,product quality,and therefore,improved the economic efficiency and working conditions of workers.Motion reliability of mechanism is a key indicator for measuring the quality of various mechanical systems.It can be evaluated through this indicator that whether a mechanic system has the capacity to accurately complete a designed movement within a prescribed period in a timely and coordinated manner.The motion reliability of an industrial robot has direct impact on its stability,and ultimately affects its overall precision and reliability.First of all,this paper summarizes the research status of SCARA robot and mechanism reliability at home and abroad and the development trend of industrial robot.Secondly,on the basis of discussing the theory of mechanism reliability,this paper analyzes the reliability analysis method of mechanism precision.What's more,the RSL-600 SCARA robot is briefly introduced,and the finite element statics analysis is carried out,which shows the importance of the flexible treatment of SCARA robot to the motion reliability analysis in the following part.In the next part,the method of mechanism motion reliability analysis is used to analyze the motion reliability of rigid flexible integration robot.The dynamic simulation software ADAMS,the principle of Monte Carlo simulation,and the ADAMS/Insight module are referred in the analysis process.The motion reliability of the robot is calculated in two cases considering the error of the connecting rod and the error of the integrated link and the error of the motion pair clearance.In order to improve the reliability of the robot,the connecting rod should try to choose more than the processing accuracy of IT 12,while minimizing the size of the motion pair clearance.Finally,according to the reliability experiment of a batch of SCARA Robots,the displacement reliability of X,Y and Z directions is 0.9886784,0.9900165,0.9875927,which shows that the displacement reliability of RSL-600 SCARA Robot is very high.At the same time,SCARA Robot simulation test is conducted.A method of motion reliability analysis for SCARA robot based on ADAMS/Insight module is validated,which provides an effective way for the reliability analysis of other complex mechanisms.On this basis,the human-computer interaction interface of SCARA robot's motion reliability calculation program is developed by using the GUI module of MATLAB software to realizing the real-time calculation result of robot's reliability. |
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