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.
NETL
NSTL
万方数据
