基于SCARA的五自由度焊接机器人的研究

Research on 5-DOF Welding Robot Based on SCARA

以SCARA型机器人为基础,设计并分析了一种五自由度焊接机器人。通过引入第四、第五双自由度功能端,实现机器人整体的兼容性、多功能性。采用D-H法建立了机器人的运动模型,并对其进行运动学分析,得到五自由度焊接机器人的正、逆运动学求解通用公式,为实际的五自由度机器人的位置及速度控制提供了依据。利用ANSYS的有限元分析功能,对机器人建模并进行模态分析,以确保机器人在实际使用环境中的可靠性。

This paper raises and analyses a novel 5-DOF welding robot which is based on SCARA. The robot is not only compatible but multifunctional because of the introduction of end that consists of two degrees of freedom,which are mutually perpendicular. After building the model,the kinematics analysis is carried on,through which the general formula of the forward as well as inverse kinematics is reached with D-H method. And only in that way,the human can get the method which is used for the position and velocity of the 5-DOF robot. In order to ensure the reliability of the robot in practical application,the modality of it is analyzed with ANSYS.