Mechanism design and kinematics analysis of 4dof SCARA robot system

WANG Haifeng, YIN Bin, LUO Ruijie, WANG Xingang

(School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China)

Abstract: Aiming at the requirements of the general experimental platform of the robot laboratory, the threedimensional model of SCARA robot with four degrees of freedom was established in SolidWorks environment, and the mechanical body of SCARA robot was manufactured. The transmission scheme, mechanical structure design and kinematics analysis of SCARA robot were studied.On this basis, the workspace calculation of robot was completed based on Monte Carlo method, and the kinematics model of SCARA robot was established based on dh parameter method, and the forward and reverse kinematics equations of robot were analyzed.At last, Matlab motion simulation analysis was carried out on SCARA robot, and the results of variation of each joint variable and simulation trajectory comparison were obtained.The results show that the four degrees of freedom SCARA robot transmission scheme and the feasibility of the mechanical structure design and the correctness of the robot kinematics model are verified, robot end actuators can accurately through a given sampling points, the variation of joint variables is consistent with the result of working space calculation, the robot to the establishment of the general experimental platform has important significance.