【溫馨提示】 dwg后綴的文件為CAD圖，可編輯，無水印，高清圖，，壓縮包內(nèi)文檔可直接點開預(yù)覽，需要原稿請自助充值下載，請見壓縮包內(nèi)的文件，所見才能所得，下載可得到【資源目錄】下的所有文件哦--有疑問可咨詢QQ:1304139763 或 414951605
4-DOF SCARA 機(jī)器人結(jié)構(gòu)設(shè)計與運(yùn)動模擬
學(xué)生姓名：饒新龍 班級：0781052
指導(dǎo)老師：許瑛
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(shè)計了一個工業(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，它包含肩關(guān)節(jié)肘關(guān)節(jié)和腕關(guān)節(jié)來實現(xiàn)水平和垂直運(yùn)動。它是一種工業(yè)機(jī)器人，具有四個自由度。其中，三個旋轉(zhuǎn)自由度，另外一個是移動自由度。它能實現(xiàn)平面運(yùn)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(shè)計方法設(shè)計了SCARA機(jī)器人的機(jī)械結(jié)構(gòu)。分析了SCARA機(jī)器人的運(yùn)動學(xué)正解和逆解，建立了機(jī)器人末端位姿誤差計算模型并做了運(yùn)動模擬。
關(guān)鍵字: SCARA 位姿誤差
指導(dǎo)老師簽名：
4-DOF SCARA robot design and motion 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: