一款简易scara机械手设计研究

 2022-02-27 09:02

论文总字数:26223字

摘 要

Abstract IV

第一章 绪论 1

引言 1

1.1研究背景与意义 1

1.2设计目标 2

1.2.1设计目标 3

第二章 SCARA机器人结构设计 6

2.1结构参数设计 6

2.1.1工作参数设计 6

2.1.2外形尺寸与工作空间 7

2.1.3工作方案设计 8

2.2机械结构设计 9

2.2.1基座设计 9

2.2.2大臂设计 11

2.2.3小臂设计 11

2.2.4竖移关节设计 13

2.2.5末端执行机构设计 13

2.3机械传动设计 15

2.4机械结构总体展示 16

第三章 SCARA机器人控制设计 18

3.1控制方案综述 18

3.2控制程序设计 19

3.2.1手动模式程序设计 19

3.2.2示教模式程序设计 24

3.2.3坐标模式程序设计 32

3.3触摸屏控制程序设计 35

第四章 SCARA机器人设计总结与展望 37

致谢 38

参考文献 39

摘要

机器人产业作为新兴产业正在蓬勃发展中,但机器人居高不下的售价成为制约其发展的重要因素,而机器人的性能过剩正是机器人成本难以降低的原因之一。因此面向低精度工作的低成本机器人相较于其他专用型机器人或高精度机器人虽然性能有所下降,但是市场依旧广阔。同时低成本机器人投入市场,必将推动机器人在中小企业乃至手工业的应用,甚至将会促进机器人的平民化、个人化。

SCARA(Selective Compliance Assembly Robot Arm,中文译名:选择顺应性装配机器手臂)是一种采用圆柱坐标的特殊工业机器人,具有有3个轴线相互平行的旋转关节和1个直线移动关节。SCARA机器人是一种典型的4自由度平面机器人,相比于其他专用型机器人,有着较高的普适性,易于进行低成本设计制造。

本文通过对典型的SCARA机器人进行横向比较,基于模块化设计方法设计出成本较低的SCARA机器人。通过使用丝杠滑台配合步进电机代替花键丝杠和用步进电机代替伺服电机等方法成功降低了制造成本。使用PLC和触摸屏作为核心控制元件,实现了对机器人运动的控制。

最终的成品SCARA机器人,具有3个旋转自由度和1个移动自由度,可实现水平和垂直运动,具有手动模式、示教模式、坐标模式三种运动模式。其结构简单、成本较低、控制方法简明易懂,可应用于生产和教学乃至个人家庭使用。

关键词:SCARA机器人;低成本;结构优化;设计制造;运动控制

Abstract

Robot production is blooming as a newly developed industry, however, the high price has become one of the most important reasons why the development of robot production is limited. And the excess performance of robots is one reason why the cost of robot production can’t be reduced. Therefore, low cost robots which focus on low precision tasks can have a wide market even though their performance may be lower comparing to other special robots or high precision robots. With the low cost robots extending, robots will be used widely in the medium and minor enterprises, and it may even promote robots getting civilian and personal.

SCARA(Selective Compliance Assembly Robot Arm) is a special industrial robot using cylindrical-coordinate system. It has three Rotational Joints and one linear joint. SCARA Robot is a classical planar robot with four degrees of freedom. It has higher universality and easier to be reformed for lower cost comparing to other special robots.

Author compared different kind of SCARA robots and designed a kind of low cost SCARA robot using the modular method. By replacing the spline-screw with slide table and step motor, the whole cost of robot has been reduced. With PLC and touch screen as the core control component, SCARA robot can be easily controlled.

The final production of SCARA robot has three Rotational Joints and one linear joints which enable it move horizontally and vertically. It has three control models containing manual mode, teaching mode and coordinate mode. SCARA robot has a simple structure, low cost, simple and clear control method. It can be used in industrial producing, class teaching and even personal using.

Key words: SCARA ROBOT; low cost; structure optimization; design and produce; movement control

第一章 绪论

引言

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