Research On Design, Analysis And Calibration Technology Of Planar Articulated Robots

In recent years,with the rapid development of automation and robotics,robots are widely used in machinery,electronics,automobile,and many other industries.SCARA robots are a kind of four axis lightweight industrial robot,since they have such features as fast moving,accurate positioning,they have been widely used in electronic assembly fields.Due to the manufacturing and assembly errors,the transmission error of the gears etc,the positioning accuracy is currently low.It seriously restricted the application of the generalized.According to the customer requirements of robot,determine the overall plan of SCARA robot.By calculation,choose the appropriate servo motor,reducer,precision ball screw ball spline and many other standard parts,also,figure out the structure of robot body.Afterwards,the D-H method is adopted to describe link parameters,and then establish the mathematical model of the robot.Study its forward kinematics equation and its inverse solution using algebraic method.With the application of ADAMS software,use STEP5 function simulate the movement way under the working conditions,study the kinematics and dynamics of SCARA robot,obtain the datas of displacement,velocity,acceleration of robot end factor and four robot joints torque curves.Through the analysis of datas and curves,verify the rationality of selecting the robot motor and reducer.According to the finite element theory,establish the correct finite element model in Ansys-Workbench,obtain the distribution diagrams of the stress,strain and deformation of the three key components(Base,Arm,Forearm),and then check the strength and stiffness,validate the rationality of the structure.Use the MDH method describe the link parameters of the robot,and then establish robot kinematic model.The function relationship between the end posture error of robot and the kinematics parameters is established based on the principle of differential transformation,it is also called the posture error model.The correctness of the model is verified by simulation.Use the three coordinates measuring instrument as the measuring equipment structures,build the experimental platform.By analyzing and processing the datas of sixty measuring points,use the L-M algorithms compute the deviation values of the norminal parameters of the link parameters.After the compensation,the accuary of this robot is improved,and then validate the correctness of the proposed calibration error model and the feasibility of the experiment scheme.