4自由度scara小型装配机器人设计学位论文.docVIP

大学现代科技学院 毕业设计（论文） 题目： 4自由度SCARA小型装配机器人设计 学 院 现代科技学院 专业名称 机械电子工程 学 号 学生姓名 指导教师 4自由度SCARA小型装配机器人设计 摘要： 目前，世界范围内对机器人的研发已经进行了足够多的实验，以机器人代替人类进行繁琐的工作以及将人类从高危工作中解脱出来是当今工业机器人的发展趋势。它是数字机器一体化的代表，技术含量非常高。是一种新兴的高科技企业，对推动生产发展将起到非常大的作用。 鉴于当今机器人的发展趋势，本文的主要阐述内容是对SCARA机器人的设计。其设计的应用领域为工业。此类机器人主要是模拟人类的关节活动进行作业，作为一款工业机器人，主要任务就是提高生产力和产品质量。该产品有四个自由度，包括一个平动自由度。在平面内的任何运动都可实现，对于精细的装配工作可以完全胜任。这是由于其具备一定的刚度和灵活性决定的。 本文的主要模式是采用了模块化的构思方案，有利于实现对机器人的部件分析模拟，求解等工作的进行。在此基础上进行了合理的仿真工作。 关键字: SCARA 位姿误差 指导老师签名： 4-DOF SCARA robot design and motion simulation Abstract ：At present, the world of robot research and development has been carried out enough to experiment with robots instead of human cumbersome work and the human work from high-risk work is the development trend of todays industrial robots. It is the representative of the digital machine integration, the technical content is very high. Is a new high-tech enterprises, to promote the development of production will play a very big role. In view of the development trend of todays robots, the main contents of this paper are the design of SCARA robot. The application of its design for the industry. This type of robot is mainly simulated human joint activities to operate, as an industrial robot, the main task is to improve productivity and product quality. The product has four degrees of freedom, including a translational degree of freedom. Any movement in the plane can be achieved, for fine assembly work can be fully qualified. This is because of its certain stiffness and flexibility of the decision. The main model of this paper is to adopt a modular concept scheme, which is helpful to realize the simulation and solving of the components of the robot. On this basis, a reasonable simulation work. Keywords: SCARA analysis Signature of supervisor: 目录 第一章绪论 1 1．1引言 1 1．2 国内外机器