Research On Vibration Test Analysis And Control Of SCARA Manipulator

With the rapid progress of the industrial era,more and more jobs will be replaced by more efficient machinery and equipment.At the same time,more and more attention is paid to improving production efficiency and reducing production costs in industrial production.SCARA manipulator,as a classic four-degree-of-freedom robot,has the advantages of high flexibility,fast movement speed,and high accuracy of repeated positioning.It is widely used in industrial production in the fields of palletizing,handling,and assembly.Due to the rapid development of the manufacturing industry and the intensified competition in the industry,the performance requirements of SCARA manipulators are getting higher and higher.In actual work,the manipulators are facing complex working environments.Vibrations will inevitably occur under working conditions.The impact will inevitably have a certain impact on the working accuracy,efficiency and overall safety of the robotic arm.At present,most of the researches on SCARA manipulators focus on the kinematics analysis and trajectory planning of SCARA manipulators,and there is less data on the vibration of manipulators.Therefore,in order to reduce the impact of vibration on the SCARA manipulator,the research on the SCARA manipulator was also enriched.This article starts with the problem of vibration of the SCARA robotic arm under working conditions,and performs vibration simulation test analysis on it.The corresponding results are obtained and the validity of the conclusion is verified through experiments.At the same time,the kinematic analysis of the robotic arm is combined In this paper,the passive control and active control schemes of SCARA manipulator are proposed,which provide corresponding theoretical basis and basis for the design of SCARA manipulator.In this paper,the research on the vibration of SCARA manipulator is mainly done as follows:(1)In response to the problem that the execution end of a SCARA robotic arm produced by an intelligent technology company generates vibration in the working environment,the 3D model of the SCARA manipulator was imported into ANSYS software,and the mode of the SCARA manipulator was analyzed by ANSYS software.The first six order vibration modes of the SCARA manipulator in the XYZ direction and the natural frequency of the SCARA manipulator are obtained by analyzing the different mode shapes in different directions,and the parts of the SCARA manipulator that are most affected by vibration are initially obtained.With the help of dynamics simulation software ADAMS,according to ANSYS Based on the results of the modal analysis,large-scale points are taken on the robotic arm.Based on the feedback of these points,the vibration characteristics of the SCARA robotic arm are analyzed from the dynamics,and the movement of each part of the SCARA robotic arm under load conditions is studied.ANSYS software static simulation and ADAMS software dynamics simulation vibration test analysis obtained a more comprehensive vibration characteristics of the robot arm,and determined the vibration test experiment scheme;(2)Based on the above theoretical analysis results,design a complete vibration test experiment,establish a SCARA manipulator vibration test system,collect acceleration vibration signals of SCARA robotic arm components,analyze the vibration characteristics of the SCARA robot arm,and verify the weakest part of the SCARA robot arm by comparing with the simulation test results above;(3)The motion model of the SCARA manipulator established by the D-H parameter method was used to obtain the forward and inverse solutions of the kinematics of the SCARA manipulator using the analytical method,and the movement of the manipulator was analyzed theoretically;The dynamic equation of the robot is simplified by the D-H parameter method,and the dynamic equation is finally converted into a linear form,so as to provide a theoretical basis for designing the vibration control scheme of the robot arm;(4)According to the above theoretical and experimental analysis results,a vibration control scheme for SCARA manipulators is proposed.In the passive vibration reduction scheme,the idea of redesigning the base structure is proposed to achieve the purpose of vibration reduction.Based on theoretical research,a forced vibration control strategy for the robot arm is proposed.Under the simulation conditions,the adaptive controller designed in this paper can effectively suppress the forced vibration of the SCARA manipulators,which meets the design requirements for vibration control..