Research On Design And Exploitation Of Scara Robot And Vibration Suppression Method

With the introduction of Made in China 2025,industrial robots have become one of the focuses of China's manufacturing industry.At present,there is a certain extent disparity between the domestic industrial robot and the foreign countries in the aspects of the repeatability,vibration suppression and mechanical performance.In order to improve the mechanical performance and restrain the vibration of the robot,a kind of SCARA horizontal joint industrial robot is developed:1.First,this paper focuses on the comparison of a variety of SCARA robot mechanical transmission and analyze their advantages and disadvantages.On this basis,According to the modular,lightweight and compact design ideas,combining with the results of the comparison and the rationality and efficiency of design and manufacture,a kind of joint transmission,which meets the design requirement,is proposed.Then,design,selection and check are imposed for the key parts and the model of structure is established in the 3D software.Then,the designed SCARA robot prototype is assembled.2.Second,consider solution to effectively suppress residual vibration of SCARA robot from the perspective of structure,the 3D model of SCARA robot arm is optimized by using ANSYS Workbench in this paper.The finite element analysis method is used to analyze the static state of the arm,and the nephogram of maximum stress and strain and the first six order modal parameters are obtained.The topological optimization method is used to obtain the distribution of the proposed optimization part of the arm.After that,MATLAB curve fitting method is used to find the optimal solution,and then the optimal structure size is obtained.Compared with the structure of the arm before and after optimization,it is found that the optimized structure has a different range of increase on the mechanical performance and natural frequency.3.At last,consider solution to effectively suppress residual vibration of SCARA robot from the perspective of trajectory planning,the arms of the SCARA robot is abstracted as a double link structure in the horizontal plane.The big arm is rigid and the small arm is flexible.The dynamic equation is obtained by combining the assumed mode method and lagrange equation.The corner equation that satisfied the boundary conditions for the motion of SCARA robot is designed,and the input torque of the link is designed with the PID control method.As a result,when the flexible link moves along the desired trajectory,the residual vibration of the first order mode is suppressed.Simulation results verify the effectiveness and rationality of the proposed method.