多功能scara模块的几何、运动学和精度参数分析

2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon) Pub Date : 2019-10-01 DOI:10.1109/FarEastCon.2019.8934924

O. Filipovich, N. Chalenkov, A. Balakin

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引用次数: 1

摘要

考虑了基于SCARA-kinematics(选择性顺应铰接机械臂)的多功能模块设计的一些方面，该模块允许执行各种技术操作。对该模块进行了设计，并对其功能进行了描述。对构件进行了结构刚度分析，得到了各构件质量尺寸参数下的最大挠度。建立了考虑误差基本分量的模块方案的数学模型，以估计末端执行器的运动参数和定位精度。给出了仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Analysis of Geometrical, Kinematic and Accuracy Parameters of the Multifunctional SCARA-Module

Some aspects of designing a multifunctional module based on SCARA-kinematics (Selective Compliance Articulated Robot Arm), which allows performing various technological operations, are considered. The design of the module is developed, its functioning is described. The analysis of the structural rigidity of the module was carried out, which revealed the maximum deflection associated with the mass-dimensional parameters of various elements. The mathematical model for the used module scheme allowing to estimate kinematic parameters and accuracy of positioning of the end effector taking into account the basic components of an error is developed. The simulation results are presented.

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

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