SCARA机器人运动学仿真分析和实际应用

Kinematics simulation and practical application for SCARA robot

为了分析SCARA机器人的运动学特性,运用D-H方法构造了其连杆坐标系,并且推导了它的正、逆运动学方程,详细求解了该机器人的正、逆解,运用ADAMS对该机器人进行正运动学仿真分析,其结果与理论分析相符合,证实了正运动学模型是正确的;同时利用其正解值通过理论计算,论证逆运动学模型是正确的。对SCARA机器人实际运动工况进行运动仿真分析,指导现场调试,提高了现场调试的效率。结合图像处理实现了对物体的精确定位,通过实验证明了该机器人运动仿真对其实际应用具有重要的指导意义。

In order to analyze the kinematics characteristics for SCARA robot,using D-H method to construct the link coordinate for SCARA robot,deducing its positive and inverse kinematics equations,and solving the positive and inverse solutions of the robot in detail. The simulation and analysis to the robot using ADAMS positive kinematics verify the correctness of the positive kinematics model. At the same time,it is realized that using its positive solution by theoretical calculation to verify the correctness of the inverse kinematics model. The motion simulation of the SCARA robot actual movement condition can guide the scene debugging and improve the efficiency of the scene debugging. The accurate location of the object can be realized combined with the image processing. The experiments that show the important guiding significance of the robot motion simulation for its practical application are given.