基于SCARA机器人的运动学分析及关节解耦

Kinematic Analysis and Joint Decoupling for SCARA Robot

应用牧野坐标系建立SCARA机器人运动学模型,采用回转变换张量法计算运动学正、逆解。针对机械臂末端关节滚珠丝杠滚珠花键运动耦合,完成运动学解耦。采用ADAMS建立虚拟模型,进行运动仿真,验证了运动学解耦的正确性,为SCARA机器人的运动控制提供理论依据。

The kinematics model of SCARA robot was established in Makino coordinate. The forward and inverse kinematics were calculated by the rotation transformation tensor method. The kinematic decoupling was completed aiming at the movement coupling with ball screws and ball splines at the last joints. A virtual model for the motion simulation was created by ADAMS to verify the accuracy of the results. It provides theoretical basis for the motion control of SCARA robot.