Design And Motion Control Of A New 6-DOF SCARA Robot

With the deployment of "Industry 4.0" strategy and China’s "Made in China 2025" plan to become an industrial power,China pays more and more attention to the development of robot technology.SCARA robot is recognized as an important branch of industrial robot,especially widely used in automobile manufacturing,3C electronics industry,dangerous goods manufacturing,national defense technology,military industry and many other fields.The wave of replacing human with machine is sweeping in.SCARA robot has the characteristics of simple structure,large working range,fast movement,low cost of use and maintenance,so it has occupied an important position in the field of industrial robots since its inception.The traditional SCARA robot consists of one mobile joint and three rotating joints,with only four degrees of freedom.As a result,it can only meet the requirements of automatic work such as sorting,assembly and sealing on the plane,and its range of use is greatly limited.Robots need at least six degrees of freedom to perform assembly,gluing and grinding in any direction of space.Six-axis joint robot can meet the requirements of the above operations,but its use cost is high,and need to occupy more space.In the existing researches on SCARA robot,few of the mechanisms of SCARA robot are optimized by increasing the freedom of the ontology,and a few of the mechanisms cause problems such as overcrowding or complex structure during the transformation,which makes it difficult to carry out mass production.Most of them increase the freedom of SCARA robot by using the cylinder in a specific working environment,which is not universal.Therefore,in order to expand the application range of SCARA robot,solve the problems such as the insufficient dexterity of traditional SCARA robot and the limitations of six-axis joint robot,it is necessary to study the new6-DOF SCARA robot for the purpose of generality.The details are as follows:(1)Firstly,based on the analysis of the structural characteristics of the traditional4-DOF SCARA robot,the degree of freedom of the SCARA robot body is increased by expanding the end mechanism,so as to improve its flexibility.And the core components of the calculation and selection,and finally in Solid Works to complete the new six degrees of freedom SCARA robot mechanism design.(2)Then based on the modified D-H parameter method and algebraic method,the forward and inverse kinematics equations of the new 6-DOF SCARA robot are established.Comparison method was used to carry out simulation analysis in Robotics Toolbox to verify the correctness of robot kinematics model and forward and inverse kinematics equations.(3)Then,the theoretical research on the trajectory planning of the new 6-DOF SCARA robot is carried out in joint space and workspace,and the trajectory simulation verification is carried out,which provides a theoretical basis for the realization of motion control system.(4)Finally,the control system of the new 6-DOF SCARA robot is designed,the prototype is built,and the reliability of the control system and the rationality of the motion trajectory are verified by experiments.