类SCARA机器人结构设计与运动学性能分析OA

To improve the range of motion of the end effector of the SCARA robot in the z-direction and the stiffness in the horizontal plane,a SCARA-like robot is designed where the degrees of freedom is moved forward to the second joint.The second joint is driven by a ball screw nut and guided by a dual rail slider mechanism.To meet the requirements of joint driving torque and maximum rotational speed,the inertia matching principle is proposed to calculate the joint driving force,and the servo motors and reducers of each joint are calculated and selected.Combined with typical handling operations,the virtual prototype design of the system is completed.Then,based on the improved D-H method,the forward and inverse kinematics solutions of the robot are derived.Further planning of the motion path was carried out,and a simulation path for handling was designed.The point-to-point motion and linear motion in the path were planned using the"half sine"acceleration motion law in joint space and Cartesian coordinate operation space,respectively.Finally,the motion path,velocity,and acceleration variation law of the end effector were obtained in the software environment.The simulation results show that the robot has achieved the predetermined motion path,and reproduced the planned acceleration motion law.