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4-DOF SCARA 機器人結構設計與運動模擬
學生姓名：饒新龍 班級：0781052
指導老師：許瑛
摘要：工業(yè)機器人是最典型的機電一體化數(shù)字化裝備，技術附加值很高，應用范圍很廣，作為先進制造業(yè)的支撐技術和信息化社會的新興產(chǎn)業(yè)，將對未來生產(chǎn)和社會發(fā)展起著越來越重要的作用。
本文設計了一個工業(yè)用SCARA機器人。SCARA機器人(全稱Selectively Compliance Articulated Robot Arm)很類似人的手臂的運動，它包含肩關節(jié)肘關節(jié)和腕關節(jié)來實現(xiàn)水平和垂直運動。它是一種工業(yè)機器人，具有四個自由度。其中，三個旋轉自由度，另外一個是移動自由度。它能實現(xiàn)平面運動，具有柔順性，全臂在垂直方向的剛度大，在水平方向的柔性大，廣泛用于裝配作業(yè)中。
本文用模塊化設計方法設計了SCARA機器人的機械結構。分析了SCARA機器人的運動學正解和逆解，建立了機器人末端位姿誤差計算模型并做了運動模擬。
關鍵字: SCARA 位姿誤差
指導老師簽名：
4-DOF SCARA robot design and motion simulation
Student name：RaoXinlong Class：0781052
Supervisor：XuYing
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.
This paper designs an industrial SCARA robot. SCARA robot (full name Selectively Compliance Articulated Robot Arm) is very similar to human arm movement, which includes the shoulder elbow and wrist joints to achieve horizontal and vertical movement. It is an industrial robot has four degrees of freedom. Among them, the three rotational degrees of freedom, the other is the DOF. It can achieve planar motion, with the flexibility, the whole arm in the vertical stiffness, flexibility in the horizontal direction of the large, widely used in assembly operations.
This method was designed with a modular design the mechanical structure of SCARA robot. Analysis of the SCARA robot inverse kinematics, and to establish the position and orientation of robot end of the model error.
Keywords: SCARA analysis
Signature of supervisor: