SCARA机械手的轨迹规划及运动学分析  

The Kinematics Analysis and Trajectory Planning of SCARA Manipulator

作　　者：高东强[1] 杨磊[1] 韩昆[1] 张希峰[1] 

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《机械设计与制造》2015年第1期269-272,共4页Machinery Design & Manufacture

基　　金："陕西科技大学博士启动基金"(BJ12-13)

摘　　要：针对药品包装机(DPP-400铝塑平板泡罩机)上使用的SCARA机械手进行轨迹规划,使用运动学逆解求出目标点处各关节的变化量,采用五次多项式插值的关节空间规划法对机械手进行轨迹规划,并结合MATLAB软件的ROOT工具箱建立机械手的三维模型,通过仿真得到位移、速度和加速度3个光滑连续运动曲线;然后在ADAMS中建立1:1的虚拟样机简化模型,通过编写五次多项式驱动函数,仿真得到关节在X、Y、Z三个方向的光滑连续的受力曲线,最后综合分析运动曲线和受力曲线证明轨迹规划的函数满足使用要求。The trajectory planning of SCARA robot was used in the pharmaceutical packaging machine （DPP-400 aluminumplastic plate blister machine）,using the inverse kinematic solution to solve the variation of each joint at the target point,using quintic polynomial interpolation programming method for the manipulator trajectory planning of joint space,and combining the ROOT toolbox of MATLAB software to establish three-dimensional model of the manipulator,displacement,velocity and acceleration is obtained by the simulation of three smooth continuous movement curve; and then set up 1：1 simplified model of virtual prototype in ADAMS,by writing q uintic polynomial drive function,and simulates joint in the X,Y,Z three directions of the stress of the smooth and continuous curve,finally comprehensive analyzes motion curve and force curve function which meets the requirement of trajectory planning.

关 键 词：SCARA机械手 关节空间 轨迹规划 虚拟样机 运动分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]