SCARA机器人.doc

河南科技大学毕业设计(毕业论文) SCARA 机器人结构与实验装置设计摘要工业机器人是最典型的机电一体化数字化装备,技术附加值很高,应用范围很广,作为先进制造业的支撑技术和信息化社会的新兴产业,将对未来生产和社会发展起着越来越重要的作用。本文设计了一个教学用 SCARA 机器人。 SCARA 机器人( 全称 pliance Articulated Robot Arm) 很类似人的手臂的运动,它包含肩关节肘关节和腕关节来实现水平和垂直运动。它是一种工业机器人,具有四个自由度。其中,三个旋转自由度,另外一个是移动自由度。它能实现平面运动, 具有柔顺性,全臂在垂直方向的刚度大,在水平方向的柔性大,广泛用于装配作业中。本文用模块化发计方法设计了 SCARA 机器人的机械结构。本文结合 Pro/e 三维建模分别对基座、大臂、小臂、以及腕部关节做了详细的设计,并根据实际工作情况对各关节进行受力分析,并模拟了机器人的工作状态,严格保证了该设计在工作中的安全性和可靠性, 具有很好使用价值和发展前景。最后,本文还分析了 SCARA 机器人的运动学正解和逆解,建立了机器人末端位姿误差计算模型并做了运动模拟,更加证实了本设计在实际应用中的实用性和可靠性。关键字:S CARA ,四个自由度,受力分析河南科技大学毕业设计(毕业论文) D ESIGN OF SCARA ROBOT STRUCTURE AND EXPERIMENTAL DEVICE ABSTRACT Industrial robot is the most typical mechatronic digital equipment , added value and high, wide range of applications , support for advanced manufacturing technology and information society, new industries, and social development of future production will increasingly play a The more important role. SCARA(pliance Articulated Robot Arm)robots work ina similar Way as human ’s arms . The SCARA robot , incorporating a shoulder joint , an elbow joint , and a wrist joint , is capable of operating vertically and horizontally . The SCARA robot isa kind of4 DOF industrial robots 、3 rotary DOFs and 1 linear DOF . It, pliance , good Vertical rigidity , and Horizontal flexibility , is widely used in assembly. Modular-design methodology was utilized to design the mechanism . This bination with Pro/ E 3D modeling , designed the main arm, small arm and wrist joints .A nd according to the actual working ,analysis each joint ’s force, and simulate the working state of the robot, in order to ensure the design work in safety and reliability, and has good use value and the prospects for the second and third chapter, it introduces detailed detail among the processing of the structure designing ofa SCARA robot and its kinematics analysis . Analysis of the SCARA robot inverse kinematics, and to establish the position and orientation of robot end of the mode