4-DOF SCARA 機(jī)器人結(jié)構(gòu)設(shè)計(jì)與運(yùn)動(dòng)模擬摘要：工業(yè)機(jī)器人是最典型的機(jī)電一體化數(shù)字化裝備，技術(shù)附加值很高，應(yīng)用范圍很廣，作為先進(jìn)制造業(yè)的支撐技術(shù)和信息化社會(huì)的新興產(chǎn)業(yè)，將對(duì)未來(lái)生產(chǎn)和社會(huì)發(fā)展起著越來(lái)越重要的作用。本文設(shè)計(jì)了一個(gè)工業(yè)用 SCARA 機(jī)器人。SCARA 機(jī)器人(全稱 Selectively Compliance Articulated Robot Arm)很類似人的手臂的運(yùn)動(dòng)，它包含肩關(guān)節(jié)肘關(guān)節(jié)和腕關(guān)節(jié)來(lái)實(shí)現(xiàn)水平和垂直運(yùn)動(dòng)。它是一種工業(yè)機(jī)器人，具有四個(gè)自由度。其中，三個(gè)旋轉(zhuǎn)自由度，另外一個(gè)是移動(dòng)自由度。它能實(shí)現(xiàn)平面運(yùn)動(dòng)，具有柔順性，全臂在垂直方向的剛度大，在水平方向的柔性大，廣泛用于裝配作業(yè)中。本文用模塊化設(shè)計(jì)方法設(shè)計(jì)了 SCARA 機(jī)器人的機(jī)械結(jié)構(gòu)。分析了SCARA 機(jī)器人的運(yùn)動(dòng)學(xué)正解和逆解，建立了機(jī)器人末端位姿誤差計(jì)算模型并做了運(yùn)動(dòng)模擬。關(guān)鍵字: SCARA 位姿誤差 指導(dǎo)老師簽名：4-DOF SCARA robot design and motion simulationStudent name： 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: