一种新型SCARA机器人运动学分析及仿真

针对传统SCARA机器人末端操作的局限性问题,设计了一种新型SCARA机器人,通过改进SCARA机器人末端结构来增强传统机构的灵巧性。应用旋量理论建立了运动学模型,并进行了正运动学求解,得到各关节运动与末端位置的关系。根据杆长条件和关节运动范围,求解了机器人的工作空间。最后,应用ADAMS建立虚拟样机模型,探究该新型机构在特定运动区域内的工作路径,并将其可达空间与传统SCARA机器人对比,证明了该机器人可增强传统机构的灵巧性,并求得精细操作范围。该机器人可解决多角度操作问题,为工业生产中的复杂作业提供参考。

Kinematic Analysis and Simulation of a Novel SCARA Robot

Aiming at the limitations of the traditional SCARA robot, a novel SCARA robot is designed which improved the structure of end-effector to improve the dexterity of traditional mechanism.SThe kinematics model of the proposed mechanism is established based on screw theory, the forward kinematics of the robot is calculated, and the relationship between joint motions and terminal positions of the end-effector is obtained. On this basis, the workspace of end-effector is predicted with the constrained of the length of each parts and the range of motions of the each joints. Finally, based on the simulation software ADAMS, the virtual prototype of the novel SCARA robot was established to explore the operation path in specificSmoving regions. It is proved that the robot can enhance the dexterity of traditional institutions by contrasting the workspaces between the novel SCARA robot and traditional SCARA robot. The range of the precise manipulation is resolved. The proposed robot can solve the problems of the multi angle operation and provide a reference for the complex operation in industrial production.