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SCARA机器人结构设计与运动模拟[4自由度][3D-UG]【3张CAD图纸和说明书】

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关键词：: 3D-UG 3张CAD图纸和说明书 CAD图纸和 SCARA机器人结构设计与运动模拟[4自由度][3D SCARA 机器人结构设计与运动模拟

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第一章绪论 1

1．1引言 1

1．2 国内外机器人领域研究现状及发展趋势 1

1.3 SCARA机器人简介 2

1.4平面关节型装配机器人关键技术 4

1.4.1操作机的机构设计与传动技术 4

1.4.2机器人计算机控制技术 4

1.4.3检测传感技术 5

1.5项目的主要研究内容 6

1.5.1项目研究的主要内容、技术方案及其意义 6

1.5.2拟解决的关键问题 7

第二章SCAAR机器人的机械结构设计 7

2.1 SCARA机器人的总体设计 7

2.1.1 SCARA机器人的技术参数 7

2.1.2 SCARA机器人外形尺寸与工作空间 7

2.1.3 SCARA机器人的总体传动方案 8

2.2机器人关键零部件设计计算 10

2.2.1减速机的设计计算 10

2.2.2电机的设计计算 11

2.2.3同步齿型带的设计计算 11

2.2.4滚珠丝杠副的设计计算 13

2.3大臂和小臂机械结构设计 14

2.4腕部机械结构设计 16

2.5小结 17

第三章SCARA机器人的位姿误差建模 17

3.1基于机构精度通用算法的机器人位姿误差建模 17

3.2机构精度通用算法 18

3.2.2通用机器人位姿误差模型 20

机构通用精度模型与机器人位姿误差模型的联系 20

3.2.2机器人位姿误差模型的建立 20

3.3 小结 25

总结 26

参考文献 27

致谢 28

摘要：工业机器人是最典型的机电一体化数字化装备，技术附加值很高，应用范围很广，作为先进制造业的支撑技术和信息化社会的新兴产业，将对未来生产和社会发展起着越来越重要的作用。

本文设计了一个工业用SCARA机器人。SCARA机器人(全称Selectively Compliance Articulated Robot Arm)很类似人的手臂的运动，它包含肩关节肘关节和腕关节来实现水平和垂直运动。它是一种工业机器人，具有四个自由度。其中，三个旋转自由度，另外一个是移动自由度。它能实现平面运动，具有柔顺性，全臂在垂直方向的刚度大，在水平方向的柔性大，广泛用于装配作业中。

本文用模块化设计方法设计了SCARA机器人的机械结构。分析了SCARA机器人的运动学正解和逆解，建立了机器人末端位姿误差计算模型并做了运动模拟。

关键字: SCARA 位姿误差

4-DOF SCARA robot design and motion simulation

Abstract ：Industrial robot is the most typical mechatronic digital equipment, added value and high, wide range of applications, support for advanced manufacturing technology and information society, new industries, and social development of future production will increasingly play a The more important role.

This paper designs an industrial SCARA robot. SCARA robot (full name Selectively Compliance Articulated Robot Arm) is very similar to human arm movement, which includes the shoulder elbow and wrist joints to achieve horizontal and vertical movement. It is an industrial robot has four degrees of freedom. Among them, the three rotational degrees of freedom, the other is the DOF. It can achieve planar motion, with the flexibility, the whole arm in the vertical stiffness, flexibility in the horizontal direction of the large, widely used in assembly operations.

This method was designed with a modular design the mechanical structure of SCARA robot. Analysis of the SCARA robot inverse kinematics, and to establish the position and orientation of robot end of the model error.

Keywords: SCARA analysis

Signature of supervisor:

第一章绪论

1．1引言

机器人技术是综合了计算机、控制论、机构学、信息和传感技术、人工智能、仿生学等多门学科而形成的高新技术。其本质是感知、决策、行动和交互四大技术的综合，是当代研究十分活跃，应用日益广泛的领域。机器人应用水平是一个国家工业自动化水平的重要标志。

工业机器人既具有操作机(机械本体)、控制器、伺服驱动系统和检测传感装置，是一种仿人操作、自动控制、可重复编程、能在三维空间完成各种作业的自动化生产设备。

目前机器人应用领域主要还是集中在汽车工业，它占现有机器人总数的2.89%。其次是电器制造业，约占16.4%，而化工业则占11.7%。此外，工业机器人在食品、制药、器械、航空航天及金属加工等方面也有较多应用。随着工业机器人的发展，其应用领域开始从制造业扩展到非制造业，同时在原制造业中也在不断的深入渗透，向大、异、薄、软、窄、厚等难加工领域深化、扩展。而新开辟的应用领域有木材家具、农林牧渔、建筑、桥梁、医药卫生、办公家用、教育科研及一些极限领域等非制造业。

一般来说，机器人系统可按功能分为下面四个部分川:

l)机械本体和执行机构:包括机身、传动机构、操作机构、框架、机械连接等内在的支持结构。

2)动力部分:包括电源、电动机等执行元件及其驱动电路。

3)检测传感装置:包括传感器及其相应的信号检测电路。

4)控制及信息处理装置:由硬件、软件构成的机器人控制系统。

1．2 国内外机器人领域研究现状及发展趋势

(1)工业机器人性能不断提高(高速度、高精度、高可靠性、便于操作和维修)，而单机价格不断下降，平均单机价格从91年的10.3万美元降至2005年的5万美元。

〔2)机械结构向模块化、可重构化发展。例如关节模块中的伺服电机、减速机、检测系统三位一体化;由关节模块、连杆模块用重组方式构造机器人整机;国外己有模块化装配机器人产品问市。

(3)工业机器人控制系统向基于CP机的开放型控制器方向发展，便于标准化、网络化:器件集成度提高，控制柜日见小巧，且采用模块化结构;大大提高了系统的可靠性、易操作性和可维修性。

(4)机器人中的传感器作用日益重要，除采用传统的位置、速度、加速度等传感器外，装配、焊接机器人还应用了视觉、力觉等传感器，而遥控机器人则采用视觉、声觉、力觉、触觉等多传感器的融合技术来进行环境建模及决策控制;多传感器融合配置技术在产品化系统中己有成熟应用。

(5)虚拟现实技术在机器人中的作用己从仿真、预演发展到用于过程控制，如使遥控机器人操作者产生置身于远端作业环境中的感觉来操纵机器人。

(6)当代遥控机器人系统的发展特点不是追求全自治系统，而是致力于操作者与机器人的人机交互控制，即遥控加局部自主系统构成完整的监控遥控操作系统，使智能机器人走出实验室进入实用化阶段。美国发射到火星上的“索杰纳”机器人就是这种系统成功应用的最著名实例。

(7)机器人化机械开始兴起。从1994年美国开发出“虚拟轴机床”以来，这种新型装置己成为国际研究的热点之一，纷纷探索开拓其实际应用的领域。

1.3 SCARA机器人简介

SCARA机器人(如图1一1所示)很类似人的手臂的运动，它包含肩关节、肘关节和腕关节来实现水平和垂直运动，在平面内进行定位和定向，是一种固定式的工业机器人。它具有四个自由度，其中，三个是旋转自由度，一个是移动自由度。3个旋转关节，其轴线相互平行，手腕参考点的位置是由两个旋转关节的角位移p，和pZ，及移动关节的位移Z来决定的。这类机器人结构轻便、响应快，例如Adeptl型SCARA机器人的运动速度可达10m/S，比一般的关节式机器人快数倍。它能实现平面运动，全臂在垂直方向的刚度大，在水平方向的柔性大，具有柔顺性。

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内容简介：: This paper to be published in the Proceedings of the 1996 IEEE International Conference on Robotics and Automation For more information, contact:Roger Quinn, Associate Professor - Mechanical Engineering Case Western Reserve University, 216-368-3222 Design of an Agile Manufacturing Workcell for Light Mechanical Applications Roger D. Quinn, Greg C. Causey Department of Mechanical and Aerospace Engineering Frank L. Merat, David M. Sargent, Nicholas A. Barendt Wyatt S. Newman, Virgilio B. Velasco Jr. Department of Electrical Engineering and Applied Physics Andy Podgurski, Ju-yeon Jo Leon S. Sterling, Yoohwan Kim Department of Computer Engineering and Science Case Western Reserve University (CWRU) Cleveland Ohio, 44106 Abstract This paper introduces a design for agile manufacturing workcells intended for light mechanical assembly of products made from similar components (i.e. parts families). We define agile manufacturing as the ability to accomplish rapid changeover from the assembly of one product to the assembly of another product. Rapid hardware changeover is made possible through the use of robots, flexible part feeders, modular grippers and modular assembly hardware. The flexible feeders rely on belt feeding and binary computer vision for pose estimation. This has a distinct advantage over non- flexible feeding schemes such as bowl feeders which require considerable adjustment to changeover from one part to another. Rapid software changeover is being facilitated by the use of a real-time, object-oriented software environment, modular software, graphical simulations for off-line software development, and an innovative dual VMEbus controller architecture. These agile features permit new products to be introduced with minimal downtime and system reconfiguration. 1. Introduction 1.1 What is Agile Manufacturing ? Agile manufacturing is a term that has seen increased use in industry over the past several years. The definition of “agile”, however, is not clear, nor is it consistent: “Agility: The measure of a manufacturers ability to react to sudden, unpredictable change in customer demand for its products and services and make a profit”1. “Today factories are coming on line that are agile at tailoring goods to a customers requirements, without halting production.”2. “Agile manufacturing assimilates the full range of flexible production technologies, along with the lessons learned from total quality management, just-in-time production and lean production”3. The only common thread among the various definitions is the ability to manufacture a variety of similar products based on what may be rapidly changing customer needs. In the past, production was geared toward high-volume production of a single product. In todays market, however, the emphasis is moving toward small lot sizes from an ever-changing, customer-driven product line. Figure 1: Agile Workcell A definition of “agile” manufacturing has been adopted which applies to light mechanical assembly of products: Agile manufacturing is the ability to accomplish rapid changeover between the manufacture of different assemblies utilizing essentially the same workcell. Rapid changeover (measured in hours), further, is defined as the ability to move from the assembly of one product to the This paper to be published in the Proceedings of the 1996 IEEE International Conference on Robotics and Automation For more information, contact:Roger Quinn, Associate Professor - Mechanical Engineering Case Western Reserve University, 216-368-3222 assembly of another product with a minimum of change in tooling and software. Rapid changeover enables the production of small lot sizes, allowing for just-in-time production. A central theme of our definition of “agile” manufacturing is the ability to rapidly introduce (measured in weeks) new assemblies and components into the system. In this system, rapid changeover is accomplished through the use of reusable software, quick change grippers for the robotic manipulators, modular work tables, and parts feeders which are flexible enough to handle several types of parts without needing mechanical adjustment. These feeders use vision, in place of hard fixturing, to determine the position and orientation of parts. Generic, reusable vision routines permit new parts to be added to the system with a minimum of effort. A testbed implementation of an agile manufacturing workcell has been developed (Figure 1). This includes mechanical manipulators, flexible part feeders, a vision system (cameras, frame grabber, and a library of image processing routines), as well as a limited number of dedicated sensors and actuators needed to complete a given assembly. The central feature of such a workcell is a controller capable of controlling each of the aforementioned components. 1.2 Relevance of CWRU Work Several companies have implemented what may be considered “agile” manufacturing. Motorola has developed an automated factory with the ability to produce physically different pagers on the same production line4. At Panasonic, a combination of flexible manufacturing and just-in-time processing is being used to manufacture bicycles from combinations of a group of core parts5. Against the backdrop of such work, the CWRU workcell is innovative in several ways. The use of vision- guided, flexible parts feeders is one example. Another is the development of software design patterns for agile manufacturing. The over-arching design philosophy of quick-changeover, however, is what makes this workcell particularly novel. The CWRU workcell has been designed to be a versatile production facility, amenable to a wide range of applications and an enabling technology for factory wide agile manufacturing. 2. Workcell Hardware The agile workcell developed at CWRU consists of a Bosch flexible automation system, multiple Adept SCARA robots, as many as four flexible parts feeders per robot, and an Adept MV controller. An important feature of the workcell is the central conveyor system, which was implemented using standard Bosch hardware. It is responsible for transferring partially completed assemblies between the robots and for carrying finished units to an unloading robot The robots are mounted on pedestals near the conveyor system. Pallets with specialized parts fixtures are used to carry assemblies throughout the system, after which the finished assemblies are removed from the pallet by the unloading robot. Finally, a safety cage encloses the entire workcell, serving to protect the operator as well as providing a structure for mounting overhead cameras. 2.1 Conveyor System The conveyor system used in the CWRU workcell is a model T2 manufactured by Bosch. Pallets are circulated on two main conveyor lines. These lines are parallel to each other and operate in opposite directions. Pallets are transferred between these two sections by means of Lift Transfer Units (LTUs). These allow for the circulation of pallets around the conveyor system and the capability to re-order the pallets. Each of the pallets in the system is given a unique identification number, allowing the system to track and direct its progress. Stops are mounted at critical points on the conveyor to control the flow of the pallets. An innovative use of this conveyor system is the use of short “spur lines”. A spur (Figure 2) is simply an extension of the conveyor, perpendicular to the main line (analogous to a railroad spur). This allows the flow of the main conveyor line to be maintained while a robot performs an assembly at the spur. Pallets entering a spur are registered in the robots world coordinate frame by an arm-mounted camera, allowing the robot to place or remove parts on the pallet and avoiding the expense of mechanical registration. 2.2 Assembly Stations Several assembly station layouts were analyzed in choosing the final layout. After evaluating several features of each layout, including: placement of the robots relative to the conveyor, impact of feeder placement relative to the robot work envelope, and the robot motions necessary for a generic assembly, it was determined that the layout in Figure 2 would best suit the needs of the workcell. Each assembly robot is surrounded by two modular, removable work tables and two fixed feeding tables (Figure 2). The modular tables are easily exchangeable, allowing for specialized assembly hardware to be placed within the robots work envelope. The modular tables contain pneumatic actuators and This paper to be published in the Proceedings of the 1996 IEEE International Conference on Robotics and Automation For more information, contact:Roger Quinn, Associate Professor - Mechanical Engineering Case Western Reserve University, 216-368-3222 electrical sensors which can be connected quickly, allowing the rapid change of any specialized tooling required for a given assembly. By designing these tables to be modular and easily exchanged, different assembly hardware can be quickly accommodated. To achieve rapid changeover, the modular work tables are registered in the robots world coordinate system in the same manner as the pallets (i.e. using an arm-mounted camera). The feeding tables are fixed, and the horizontal, parts- feeding conveyors are mounted to them. Figure 2: Workstation Layout One drawback of the conveyor/spur system, as outlined above, is the time required to exchange a full pallet for an empty one. During this time (approximately 15 seconds) the robot would conceivably be inactive. A simple solution to this problem is a mini-warehouse: a fixture is located on the exchangeable portion of the work table to hold a few completed assemblies. During a pallet swap, the robot can continue the assembly operation working while the incoming pallet arrives, placing the completed assemblies in the mini-warehouse. After the incoming pallet is transferred to the spur, the vision system registers the pallet. The robot places the current assembly (still in its gripper) on the pallet and then proceeds to move the completed assemblies from the mini-warehouse to the pallet. 2.3 Flexible Parts Feeders Each feeder consists of three conveyors (Figure 3). The first conveyor is inclined and lifts parts from a bulk hopper. The second conveyor is horizontal, with a translucent belt. It transports the parts to the robot, presenting them at an underlit section near the robot. The third conveyor returns unused or unfavorably oriented parts to the bulk hopper. Proper functioning of the feeders depends on the parts being lifted from the bulk hopper in a quasi- singulated manner. Many factors influence the effectiveness of the inclined conveyor: the angle of the conveyor with respect to the horizontal, the belt properties (e.g. coefficient of friction), the type of belt (cleated, magnetic, vacuum), and the linear speed of the belt, for example. Figure 3: Flexible Feeding System Schematic When different parts are to be fed, the bulk hopper is emptied and filled with the new parts. If the parts are of a similar geometry, no changes to the feeding system are typically needed. Some parts, such as circular or cylindrical ones (i.e. ones that would roll back down the incline) may need a different belt surface, such as a cleated one, or a different angle of inclination. Overhead cameras are used to locate parts on the horizontal conveyors. An array of compact fluorescent lights is installed within each of the horizontal conveyors. These lights together with a translucent conveyor belt provide an underlit area in which parts can be presented to the vision system. Using binary vision tools (currently provided by an Adept vision system) parts on the feeder belts are examined. First, the vision system looks to see if a part is graspable (i.e. the part is in a recognized, stable pose (position and orientation) and enough clearance exists between the part and its neighbors to grasp it with a gripper). Second, the pose of the part in the robots world coordinates is determined. This pose, and the motions associated with acquiring the part, are checked to make sure that they are within the work envelope of the robot. 2.4 Vision System One essential function of the vision system is to determine the pose of components for flexible parts feeding. Pose estimation is performed using built-in functions of the AdeptVision software, and must be fast enough not to interfere with the assembly cycle-time. A secondary function of the vision system is to register pallets and modular work tables to a robots world coordinate system, avoiding the need for alignment hardware. Still another use may be error recovery, This paper to be published in the Proceedings of the 1996 IEEE International Conference on Robotics and Automation For more information, contact:Roger Quinn, Associate Professor - Mechanical Engineering Case Western Reserve University, 216-368-3222 wherein the cameras can be used to inspect critical points in the system, or in-process assemblies. The vision system uses a number of standard CCD cameras, mounted either above the flexible parts feeders or on the robot arms. Since the number of camera inputs to the AdeptVision system is limited to four, a low- cost, custom video multiplexer was developed, utilizing a monolithic video-switcher integrated circuit. This allows up to four cameras to be attached to each video input on the video hardware. In keeping with the quick-changeover philosophy, the vision routines are designed to be reusable; that is a given routine may be used to locate several different but similar parts (i.e. similar asymmetries, topology, etc.). This approach has many advantages, including minimizing the number of software routines. In addition, this reusability allows for software modularity and “agility6.” For example, by parameterizing the characteristics that a routine searches for, it can be applied to parts that have a similar profile but are of a different size. This means that parts with similar geometries to those in the parts library can be added to the system by simply modifying the inspection procedures that call these lower-level, reusable routines. 2.5 Introduction of New Parts Adding a new part to the system involves a few well defined tasks. A vision routine which determines the pose of the part is developed, utilizing the library of reusable vision routines. If the new part has characteristics that appear nowhere else in the parts library, new routines may need to be added to the software library. Also, if the part has not been designed for use on the generic parts feeders (e.g. it has no stable poses, like a cylinder), the feeders may require a belt change or a change in the angle of inclination. A gripper must also be designed to manipulate the new part. In order to minimize the specialized hardware and avoid tool changes during assembly, the gripper design should be performed concurrently with the gripper designs for other parts to be assembled at a given robot. For instance, if a given operation requires both an A widget and a B widget to be assembled at the first robot, the gripper designer should take this into account. In general, it is best to design the parts and the associated hardware concurrently. This will allow maximum reuse of software, minimal change to the flexible feeding setup and the design of a robust assembly sequence which will enhance unattended operation. This approach is known as Design for Manufacturing and Assembly7, or simply DFMA. 3. Computer Hardware/Controller Design The current software has been developed entirely in the V+8 programming language and operating system, on Adepts MV controller. For most industrial applications, this programming environment would be sufficient; however, it lacks the power and flexibility needed to support rapid software development and changeover. This is largely because V+ lacks features which are standard in other languages and operating systems, such as user-defined functions, standard data structures and shell script execution. To circumvent these limitations, a more extensive controller interface design is under development. It will allow the system to support C and C+, and provide a friendlier and more flexible user interface. In addition, it will allow the use of a real-time operating system, thus simplifying software development and improving performance. I/O Reflective Memory Network Ethernet Adept MV Controller Agile Workcell Non-Adept VME Cage Workstation Figure 4: System Architecture In this design, the systems capabilities are expanded by using a second VMEbus in addition to the MV controller VMEbus (Figure 4). This second VMEbus houses I/O boards and dedicated single-board computers (SBCs), on which a real-time operating system executes. C and C+ programs running on the SBCs are responsible for all high-level control and robot motions (e.g. conveyor control, pneumatic operations, specifying robot destinations), while the MV controller is used exclusively for low-level robot motions (e.g. servo control and trajectory generation) and some machine vision routines. In later implementations, a vision processing board can also be used on the second VMEbus, thereby augmenting the AdeptVision system. The two buses are connected by a reflective memory network. This consists of two memory cards, one on each bus, which can be connected by either a cable or a fiber optic link. Changes made to memory on This paper to be published in the Proceedings of the 1996 IEEE International Conference on Robotics and Automation For more information, contact:Roger Quinn, Associate Professor - Mechanical Engineering Case Western Reserve University, 216-368-3222 one board are automatically reflected on the other, thus allowing commands and data to be transmitted between the two buses9. The SBCs can thus place robot and vision commands on the reflective memory network. These are read by a set of command servers running on the MV controller. T

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