机械手臂重复定位精度和运动速度测量实验研究

Experimental Study on the Accuracy and Speed of the Mechanical Arm Movement Based on Actuating Motor

SCARA机器人常用于精密装配和加工,其机械本体、驱动控制、减速器、电机等都会影响SCARA机器人的精度和运动速度。主要针对一台SCARA机器人对其进行实验台搭建,测试其重复定位精度和运动速度,为SCARA机器人性能指标的评定提供一种参考性方法。

SCARA robots are often used in precision assembly and processing. Its mechanical body,drive control,reducer,motor and etc will affect the accuracy and speed of the SCARA robot. In this paper,a SCARA robot was built on the experimental platform. The accuracy and speed of movement were tested. A reference method for evaluating the performance of SCARA robot was provided.