4-DOF SCARA 機(jī)器人結(jié)構(gòu)設(shè)計(jì)與運(yùn)動(dòng)模擬摘要:工業(yè)機(jī)器人是最典型的機(jī)電一體化數(shù)字化裝備,技術(shù)附加值很高,應(yīng)用范圍很廣,作為先進(jìn)制造業(yè)的支撐技術(shù)和信息化社會(huì)的新興產(chǎn)業(yè),將對(duì)未來生產(chǎn)和社會(huì)發(fā)展起著越來越重要的作用。本文設(shè)計(jì)了一個(gè)工業(yè)用 SCARA 機(jī)器人。SCARA 機(jī)器人(全稱 Selectively Compliance Articulated Robot Arm)很類似人的手臂的運(yùn)動(dòng),它包含肩關(guān)節(jié)肘關(guān)節(jié)和腕關(guān)節(jié)來實(shí)現(xiàn)水平和垂直運(yùn)動(dòng)。它是一種工業(yè)機(jī)器人,具有四個(gè)自由度。其中,三個(gè)旋轉(zhuǎn)自由度,另外一個(gè)是移動(dòng)自由度。它能實(shí)現(xiàn)平面運(yùn)動(dòng),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(shè)計(jì)方法設(shè)計(jì)了 SCARA 機(jī)器人的機(jī)械結(jié)構(gòu)。分析了SCARA 機(jī)器人的運(yùn)動(dòng)學(xué)正解和逆解,建立了機(jī)器人末端位姿誤差計(jì)算模型并做了運(yùn)動(dòng)模擬。關(guān)鍵字: SCARA 位姿誤差 指導(dǎo)老師簽名:4-DOF SCARA robot design and motion simulationAbstract :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:目錄第一章緒論 .11.1 引言 11.2 國(guó)內(nèi)外機(jī)器人領(lǐng)域研究現(xiàn)狀及發(fā)展趨勢(shì) .11.3 SCARA 機(jī)器人簡(jiǎn)介 .21.4 平面關(guān)節(jié)型裝配機(jī)器人關(guān)鍵技術(shù) .41.4.1 操作機(jī)的機(jī)構(gòu)設(shè)計(jì)與傳動(dòng)技術(shù) .41.4.2 機(jī)器人計(jì)算機(jī)控制技術(shù) .41.4.3 檢測(cè)傳感技術(shù) .51.5 項(xiàng)目的主要研究?jī)?nèi)容 .61.5.1 項(xiàng)目研究的主要內(nèi)容、技術(shù)方案及其意義 .61.5.2 擬解決的關(guān)鍵問題 .7第二章 SCAAR 機(jī)器人的機(jī)械結(jié)構(gòu)設(shè)計(jì) 72.1 SCARA 機(jī)器人的總體設(shè)計(jì) 72.1.1 SCARA 機(jī)器人的技術(shù)參數(shù) .72.1.2 SCARA 機(jī)器人外形尺寸與工作空間 .72.1.3 SCARA 機(jī)器人的總體傳動(dòng)方案 82.2 機(jī)器人關(guān)鍵零部件設(shè)計(jì)計(jì)算 102.2.1 減速機(jī)的設(shè)計(jì)計(jì)算 102.2.2 電機(jī)的設(shè)計(jì)計(jì)算 112.2.3 同步齒型帶的設(shè)計(jì)計(jì)算 112.2.4 滾珠絲杠副的設(shè)計(jì)計(jì)算 132.3 大臂和小臂機(jī)械結(jié)構(gòu)設(shè)計(jì) 142.4 腕部機(jī)械結(jié)構(gòu)設(shè)計(jì) 162.5 小結(jié) 17第三章 SCARA 機(jī)器人的位姿誤差建模 .173.1 基于機(jī)構(gòu)精度通用算法的機(jī)器人位姿誤差建模 173.2 機(jī)構(gòu)精度通用算法 183.2.2 通用機(jī)器人位姿誤差模型 203.2.2.1 機(jī)構(gòu)通用精度模型與機(jī)器人位姿誤差模型的聯(lián)系 .203.2.2 機(jī)器人位姿誤差模型的建立 203.3 小結(jié) .25總結(jié) 26參考文獻(xiàn) .27致謝 28