新型三自由度搬运机器人关键技术

Research on Key Technologies of New Three Degrees of Freedom Transport Robot

针对从事机床上下料等工作的SCARA机器人,其电机和减速装置靠近执行末端,造成占用空间大、能效低的问题,设计一种新型三自由度搬运机器人,该机器人将前两关节的驱动装置集中于基座。基于这种新型构型,采用D-H法建立该机器人运动学模型并进行运动学分析,采用修正梯形模式的速度、加速度和位移方程进行轨迹规划,利用Solid Worlks软件建立新型三自由度搬运机器人的三维结构模型。制作简化的机器人模型和机器人实体,分别进行点到点运动比较试验和机床上下料的搬运试验。结果表明:该三自由度搬运机器人的结构设计有效降低了末端质量,增大了操作空间;且满足搬运、分拣等功能要求。

In the traditional SCARA robot engaged in the upper and lower material from the machine, motor and reduction device lie near the end of the execution, which has shortcomings, such as a large space and low efficiency.A new 3 degrees of freedom transfer robot（3-DOF T-robot） was proposed. The robot was set up on the base of the front two joints drive device. Based on this new configuration, the kinematic model was established by means of D-H method. The trajectory planning was created with speed, acceleration and displacement equation with modified trapezoid pattern. The three-dimensional model of the robot was built with Solid Works software. Then, a simplified robot model and robot body were produced, and the point-to-point motion comparative test and transfer test were simulated. The results show that the physical design of 3-DOF T-robot can effectively reduce the end mass, increase the operating space, and meet the requirements of common functions such as carrying and sorting.