佛山科学技术学院学报（自然科学版）2026，Vol.44Issue(2)：10-17,8.
类SCARA机器人结构设计与运动学性能分析
Structural design and kinematic performance analysis of SCARA-like robot
摘要
Abstract
To improve the range of motion of the end effector of the SCARA robot in the z-direction and the stiffness in the horizontal plane,a SCARA-like robot is designed where the degrees of freedom is moved forward to the second joint.The second joint is driven by a ball screw nut and guided by a dual rail slider mechanism.To meet the requirements of joint driving torque and maximum rotational speed,the inertia matching principle is proposed to calculate the joint driving force,and the servo motors and reducers of each joint are calculated and selected.Combined with typical handling operations,the virtual prototype design of the system is completed.Then,based on the improved D-H method,the forward and inverse kinematics solutions of the robot are derived.Further planning of the motion path was carried out,and a simulation path for handling was designed.The point-to-point motion and linear motion in the path were planned using the"half sine"acceleration motion law in joint space and Cartesian coordinate operation space,respectively.Finally,the motion path,velocity,and acceleration variation law of the end effector were obtained in the software environment.The simulation results show that the robot has achieved the predetermined motion path,and reproduced the planned acceleration motion law.关键词
类SCARA机器人/惯量匹配/改进D-H法/轨迹规划/"半正弦"加速度Key words
SCARA-like robot/inertia matching/Modified D-H method/trajectory planning/half sine acceleration motion分类
信息技术与安全科学引用本文复制引用
王鹏,郑艳,肖淑文,唐尧,杨媛媛,付一凡,唐春宇,刘逸帆..类SCARA机器人结构设计与运动学性能分析[J].佛山科学技术学院学报（自然科学版）,2026,44(2):10-17,8.基金项目
安徽省高等学校省级自然科学研究计划项目(2024AH051746) （2024AH051746）
国家级大学生创新创业训练计划项目(202410381034) （202410381034）
