机电工程技术2024，Vol.53Issue(11)：101-105,5.DOI:10.3969/j.issn.1009-9492.2024.11.022
SCARA机器人运动学建模与仿真分析
Kinematic Modeling and Simulation Analysis of SCARA Robot
摘要
Abstract
The establishment of a mathematical model for robots is a prerequisite for their control.Based on the structural characteristics of the SCARA robot,a schematic diagram of the SCARA robot's mechanism is constructed,and a reference coordinate system is established on this basis.Using MDH modeling theory and homogeneous transformation method,the kinematic model of the SCARA robot is established.The kinematic equation and its inverse solution of the robot are solved using analytical methods,providing reference for the control research of the SCARA robot.Based on the D-H parameters of the SCARA robot,a simulation model of the robot linkage is established using the Link function in the Matlab Robotics Toolbox.The kinematic simulation of the SCARA robot is carried out,and the correctness of the SCARA robot model and its forward and inverse kinematics are verified using the fkine and ikine functions,respectively.In response to the problem that the ikine function in Matlab Robotics Toolbox can only obtain one set of solutions and cannot handle multiple solutions for robots,a method is proposed to use Process Simulate software to import a 3D model of SCARA robots,construct a virtual simulation model of SCARA,and set kinematic parameters.By adjusting the motion of each joint to verify the multiple solutions of inverse kinematics,a new approach is provided for robot inverse kinematics verification,which is also an innovative application of robot virtual simulation.关键词
SCARA机器人/运动学模型/Matlab/Process SimulateKey words
SCARA robot/kinematic model/Matlab/Process Simulate分类
信息技术与安全科学引用本文复制引用
李婵,郭付龙..SCARA机器人运动学建模与仿真分析[J].机电工程技术,2024,53(11):101-105,5.基金项目
深圳技师学院校级科研项目(2311003) （2311003）
