摘要
设计了一种新型SCARA机器人传动结构,实现了运动的优化,优点是传动结构简单,重复定位精度高。首先对机器人的传动结构进行优化,然后在确定D-H连杆模型参数的基础上,通过MATLAB机器人工具箱建立机器人的运动模型,计算末端执行器的实际位置。
A new SCARA robot transmission structure is designed to optimize the motion.Its advantage is that the
transmission structure is simple and the repeating positioning accuracy is high.The transmission structure of the robot is optimized.On the basis of determining the parameters of the D-H linkage model,the motion model of the robot is established by the MATLAB robot toolbox,and the actual position of the end effector is calculated.
作者
康宇鹏
刘宇红
杨晓娜
杨肖长
KANG Yupeng;LIU Yuhong;YANG Xiaona;YANG Xiaochang(School of Mechanical Engineering,Hebei University of Technology,Tianjin300130,China)
出处
《机械工程师》
2018年第9期26-28,31,共4页
Mechanical Engineer
关键词
传动
精度分析
SCARA机器人
结构优化
transmission
accuracy analysis
SCARA robot
structural optimization
