Optimization Of Transmission Structure And Error Analysis Of SCARA Assembly Robot

The modern manufacturing industry needs to continue to deepen the synchronous development of the industrialization.The application of assembly robots is more widely.The core performance parameter is the accuracy of assembly robots,especially the accuracy of repetitive positioning.Therefore,study of accuracy especially with high speed is important.In this paper,the internal transmission structure of the SCARA joint robot is optimized and the comprehensive error is calculated.The specific work is as follows:1.This paper introduces the transmission structure.New SCARA robot structure is optimized,reduces the use of synchronous belt and improves accuracy.Then this paper introducese D-H matrix to describe the relation and introduces position parameters.Then,the research at home and abroad is compared.Various models and methods for computing static and dynamic errors,and contents of this paper are determined.2.A robot 3D model is built in Solidworks analysis and calculation,Then,the robot is established in the Matlab Robotics toolbox.And kinematics verification is carried out for angles and trajectories,positive and inverse solutions are calculated.The kinematics error model,the finite element analysis of the load under the big arm and small arm of the static stress and deformation.The toolbox calculates the error factors of the end effector of a robot's trajectory theory and actual position comparing static error,and that the size of angle and rod length and other factors on error.3.The establishment of dynamic equations of the robot by using Lagrange equation.A rigid flexible coupling model of flexible link replacement in the ADAMS dynamics simulation software and analysis of gravity and inertia force and end load flexible error caused by the provisions of the same drive function to determine the link simulation of the maximum force moment,and the same time respectively end error comparison between rigid conditions and the flexible member of actual end coordinate calculation of flexible.4.Independently,the comprehensive error of the high speed working condition which obtained through the calculation and simulation.The error is simulated which is proved reduces the weight and error.The influence of static and dynamic error factors on the terminal parameters is compared which provides a theoretical basis.