一种新型平面机器人设计及仿真分析  

Design and Simulation Analysis a New Planar Robot

作　　者：刘凯 程斌 刘亚如 LIU Kai;CHENG Bin;LIU Yaru(Efort Intelligent Equipment Co.,Ltd.,Wuhu 241000)

机构地区：[1]埃夫特智能装备股份有限公司,芜湖241000

出　　处：《现代制造技术与装备》2024年第2期26-29,共4页Modern Manufacturing Technology and Equipment

基　　金：安徽省科技重大资助项目“电子装备高集成核心组件多机器人协同高质高效装配关键技术研究及应用”(202203a0502007)。

摘　　要：针对传统选择顺应性装配机器手臂(Selective Compliance Assembly Robot Arm,SCARA)机器人运动范围不足的缺点,提出一种新型平面机器人结构。首先,通过将SCARA机器人第三关节的丝杆传动结构移动到第一关节,实现机器人整体的上下平移运动,进而扩大机器人的运动空间。其次,在第一关节设置对称的支撑柱,以提升整机的刚度和运行的平稳性,保证机器人的定位精度。再次,通过设计关键部位的结构满足特殊结构的传动需求,根据结构设计和传动方案进行电机和减速机初步选型。最后,利用动力学仿真软件进行关节速度和力矩的仿真分析,验证机器人电机和减速机选型的合理性,为后续样机的生产制造提供参考。Aiming at the shortcoming of traditional SCARA robot,a new planar robot structure was proposed.First,by moving the screw transmission structure of the third joint of the Selective Compliance Assembly Robot Arm(SCARA)robot to the first joint,the overall up and down translation movement of the robot is realized,thus improving the movement space of the robot.Secondly,a symmetrical support column is set in the first joint to improve the stiffness of the whole machine and the smoothness of operation to ensure the positioning accuracy of the robot.Thirdly,through the design of the key parts of the structure to meet the special structure of the transmission needs,according to the structural design and transmission scheme of the motor and reducer preliminary selection.Finally,dynamic simulation software was used to simulate and analyze the joint velocity and torque,to verify the rationality of the robot motor and reducer type selection,and to provide a reference for the production of the subsequent prototype.

关 键 词：选择顺应性装配机器手臂(SCARA)机器人 结构设计 电机 减速机 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]