CN111975757A - Parameter setting method of SCARA robot - Google Patents
Parameter setting method of SCARA robot Download PDFInfo
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- CN111975757A CN111975757A CN202010877360.5A CN202010877360A CN111975757A CN 111975757 A CN111975757 A CN 111975757A CN 202010877360 A CN202010877360 A CN 202010877360A CN 111975757 A CN111975757 A CN 111975757A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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Abstract
The invention belongs to the field of robots, and particularly relates to a parameter setting method of a SCARA robot.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a parameter setting method of a SCARA robot.
Background
The SCARA robot is a robot arm applied to assembly operation, and is provided with three rotary joints, namely a base, a first rotating arm and a second rotating arm, wherein the first rotating arm is hinged with the base, the second rotating arm is hinged with the first rotating arm, the axes of the three rotary joints are parallel to each other, the second rotating arm is provided with a mechanism for operating in the vertical direction, the rigidity effect of the second rotating arm is basically determined due to the design parameters of the second rotating arm which are determined by the mechanism arranged on the second rotating arm, the first rotating arm is used as a main force arm, the load on the second rotating arm and the self weight of the second rotating arm can cause the first rotating arm to generate certain deformation, so that the rigidity of the first rotating arm directly influences the rigidity effect of the whole SCARA robot, the first rotating arm is generally made of lighter aluminum alloy, the length of the first rotating arm is determined by the stroke of the robot, and the width of the first rotating arm is mainly determined by the speed reducing, therefore, the rigidity of the first boom is mainly determined by the height dimension thereof, so it is necessary to develop a parameter setting method of the SCARA robot to determine the height dimension of the first boom to improve the rigidity of the robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a parameter setting method of a SCARA robot, which is used for improving the rigidity of the robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
a parameter setting method of a SCARA robot including a base, a first boom hinged with the base, a second boom hinged with the first boom defining a height x of the first boom, the parameter setting method comprising a parameter selecting step of the first boom:
the relation f (x) ═ aln (x) + b, a ∈ [0.10, 0.11], b ∈ [0.35,0.38], x ∈ [45,100] between the amount of deformation of the first arm when the second arm is loaded and its height is established, and the height dimension of the first arm is selected in the interval f (x) ≧ -0.0018.
Compared with the prior art, the method has the advantages that the relation between the deformation quantity of the first rotating arm and the height of the first rotating arm is established to obtain the change rule between the deformation quantity of the first rotating arm and the height of the first rotating arm, and the change speed condition of the deformation quantity in the height value range is obtained by derivation of the relation, so that the change speed of the deformation quantity in which height size interval begins to be reduced is obtained, the height value range meeting the requirement of the deformation quantity is determined, the value range of the height of the first rotating arm of the SCARA robot can be rapidly determined by the method, and the efficiency of parameter design of the first rotating arm can be effectively improved.
Further, the length of the first arm is 300mm, and the length of the first arm after the first arm and the second arm are completely unfolded is 600mm, wherein a is 0.109 and b is 0.3747 in the relational expression, that is, the relational expression between the deformation amount of the first arm and the height thereof is f (x) is-0.109 ln (x) and +0.3747, and meanwhile, in order to prevent the first arm from being too heavy and to prevent an increase in load on a speed reduction mechanism, a motor, and the like, the height of the first arm is set to 60mm, and it is known from a curve drawn by the relational expression that the speed of the deformation amount changing with an increase in height is remarkably reduced after the height is increased to 60mm, and in consideration of its own weight, setting the height of the first arm to 60mm can relatively reduce the load increased by the power unit on the premise of improving rigidity.
Further, the wall thickness of the first tumbler is defined as y, and the relation f (y) -cln (y) -d, c e [0.005, 0.009], d e [0.20,0.24], y e [4,26] between the deformation amount of the first tumbler when the second tumbler is loaded and the wall thickness thereof is established, and the wall thickness dimension of the first tumbler is selected in the interval of f (y)' ≧ 0.0007. Through establishing the relational expression between the deformation volume of first rocking arm and its wall thickness to obtain the change rule between the deformation volume of first rocking arm and its wall thickness, and through seeking derivative to the relational expression, obtain the change speed condition of deformation volume in the wall thickness value range, thereby learn the change speed of deformation volume in which wall thickness size interval begins to reduce, so that confirm the wall thickness value range that satisfies the deformation volume requirement, the value range of the first rocking arm wall thickness of SCARA robot can be swiftly determined to this kind of mode, can improve the efficiency of first rocking arm parameter design effectively.
Further, c is 0.0007, d is 0.2272, i.e., the relation between the amount of deformation of the first arm and the wall thickness thereof is f (y) — 0.0007ln (y) +0.2272, and at the same time, in order to avoid the first arm being too heavy and to prevent an increase in load on the reduction mechanism, the motor, etc., the wall thickness of the first arm is set to 10mm, and it can be seen from a graph drawn by the relation that the rate at which the amount of deformation changes with an increase in wall thickness decreases significantly after the wall thickness increases to 10mm, and setting the wall thickness of the first arm to 10mm can reduce the influence on the power unit of the robot while improving rigidity in consideration of the factor of its own weight.
The invention provides another parameter setting method of a SCARA robot, the SCARA robot comprises a base, a first rotating arm hinged with the base and a second rotating arm hinged with the first rotating arm, the height of the first rotating arm is defined as x, and the parameter setting method comprises the parameter selection steps of the first rotating arm:
the relation f (x) ═ aln (x) + b, a ∈ [0.21, 0.22], b ∈ [0.65,0.7], x ∈ [50,100] between the amount of deformation of the first arm when the second arm is loaded and its height is established, and the height dimension of the first arm is selected in the interval f (x) ≧ -0.0029.
Compared with the prior art, the method has the advantages that the relation between the deformation quantity of the first rotating arm and the height of the first rotating arm is established to obtain the change rule between the deformation quantity of the first rotating arm and the height of the first rotating arm, and the change speed condition of the deformation quantity in the height value range is obtained by derivation of the relation, so that the change speed of the deformation quantity in which height size interval begins to be reduced is obtained, the height value range meeting the requirement of the deformation quantity is determined, the value range of the height of the first rotating arm of the SCARA robot can be rapidly determined by the method, and the efficiency of parameter design of the first rotating arm can be effectively improved.
Further, the length of the first arm is 500mm, the length of the first arm after the first arm and the second arm are completely unfolded is 800mm, a is 0.214, and b is 0.6613, that is, the relation between the deformation amount of the first arm and the height thereof is f (x) — 0.214ln (x) +0.6613, and meanwhile, in order to prevent the first arm from being too heavy and to prevent an increase in load on a speed reduction mechanism, a motor, and the like, the height of the first arm is set to 75mm, and it is known from a graph drawn by the relation that the speed at which the deformation amount changes with an increase in height is significantly reduced after the height is increased to 75mm, and setting the height of the first arm to 75mm in consideration of its own weight can relatively reduce the load increased by the power unit on the premise of improving rigidity.
Further, the wall thickness of the first arm is defined as y, and the relation between the deformation amount of the first arm when the second arm is loaded and the wall thickness of the first arm is established, wherein f (y) is-cln (y) and + d, c is 0.012, 0.016, d is 0.26,0.30, y is 4,26, and the wall thickness of the first arm is selected in the interval of f (y) and ≧ -0.0018. Through establishing the relational expression between the deformation volume of first rocking arm and its wall thickness to obtain the change rule between the deformation volume of first rocking arm and its wall thickness, and through seeking derivative to the relational expression, obtain the change speed condition of deformation volume in the wall thickness value range, thereby learn the change speed of deformation volume in which wall thickness size interval begins to reduce, so that confirm the wall thickness value range that satisfies the deformation volume requirement, the value range of the first rocking arm wall thickness of SCARA robot can be swiftly determined to this kind of mode, can improve the efficiency of first rocking arm parameter design effectively.
Further, c is 0.014, d is 0.2826, that is, the relational expression between the amount of deformation of the first arm and the wall thickness thereof is f (y) is-0.014 ln (y) +0.2826, and in order to prevent the first arm from being excessively heavy and to prevent an increase in load on a reduction mechanism, a motor, and the like, the wall thickness of the first arm is set to 8mm, and it is known from a graph drawn by the relational expression that the rate at which the amount of deformation changes with an increase in wall thickness decreases significantly after the wall thickness increases to 8mm, and setting the wall thickness of the first arm to 8mm in consideration of its own weight can reduce the influence on the power unit of the robot while improving rigidity.
Drawings
Fig. 1 is a schematic structural view of a first rotating arm;
fig. 2 is a schematic structural view of a first rotating arm and a second rotating arm;
fig. 3 is a data table of the height of the first rotating arm and the actual deformation amount according to the first embodiment;
FIG. 4 is a graph showing the actual change curve and the change trend of the first rotating arm with respect to the height and the deformation amount according to the first embodiment;
fig. 5 is a data table of the wall thickness and the actual deformation amount of the first rotating arm according to the first embodiment;
FIG. 6 is a graph showing the actual variation curve and variation trend of the first rotating arm with respect to the wall thickness and deformation amount according to the first embodiment;
fig. 7 is a data table of the height of the first rotating arm and the actual deformation amount according to the second embodiment;
FIG. 8 is a graph showing the actual change curve and the change trend of the first rotating arm with respect to the height and the deformation amount according to the second embodiment;
fig. 9 is a data table of the wall thickness and the actual deformation amount of the first rotating arm according to the second embodiment;
fig. 10 is a graph showing the actual variation curve and variation trend of the first rotating arm of the second embodiment with respect to the wall thickness and the deformation amount.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
The first embodiment is as follows:
referring to fig. 1 and 2, the present embodiment provides a parameter setting method of a SCARA robot, which includes a base, a first rotating arm 1 hinged with the base, a second rotating arm 2 hinged with the first rotating arm 1, and an upper arm 12 connected with the upper end of the side wall 11, wherein x in the figure is the height dimension of the first rotating arm 1, and y is the wall thickness dimension of the first rotating arm 1, wherein the length of the first rotating arm 1 is 300mm, the length of the first rotating arm 1 and the second rotating arm 2 after being completely unfolded is 600mm, x ∈ [45,100], y ∈ [4,26], and it should be noted that the deformation of the first rotating arm 1 involved in the present embodiment occurs when the first rotating arm 1 and the second rotating arm 2 are completely unfolded.
The parameter setting method comprises a height parameter selection step of the first boom 1:
s01, as shown in fig. 2 and 3, the same load, specifically, 10kg is applied to the second boom 2 of the SCARA robot having the plurality of first booms 1 with different heights, and the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 4, the actual change curve of the actual deformation amount of the first boom 1 is plotted with the actual deformation amount as the ordinate and the height of the first boom 1 as the abscissa. As a specific embodiment, the step of acquiring the actual deformation amount of the corresponding first rotating arm 1 comprises: simulating the load condition of the second rotating arm 2 through a SolidWorks three-dimensional software simulation command to obtain a simulation value of the deformation quantity of the first rotating arm 1, and compensating the simulation value by a coefficient to obtain the actual deformation quantity of the first rotating arm 1.
s02, as shown in fig. 4, a trend curve f (x) — 0.109ln (x) +0.3747 of the deformation amount of the first rotor arm 1 under the change of the height thereof is established according to the actual change curve, and in a specific embodiment, the trend curve can be formed by an excel tool.
s03, the height of the first arm 1 is selected in the interval f (x) ≧ 0.0018. Since the weight of the first boom 1 increases with the increase of the height thereof, and once the first boom 1 is too heavy, the load of the speed reducing mechanism and the motor of the robot will be increased, as a specific embodiment, the height of the first boom 1 is set to 60mm, as shown in fig. 4, and as can be seen from the above-mentioned variation trend curve of the amount of deformation and the height, the speed of the amount of deformation with the increase of the height is obviously reduced after the height is increased to 60mm, and the increased load of the power plant can be relatively reduced by setting the height of the first boom 1 to 60mm in consideration of the self weight thereof, while the rigidity is improved.
The method also comprises the step of selecting the wall thickness parameter of the first rotating arm 1:
s01, as shown in fig. 2 and 5, the same load, specifically 10kg, is applied to the second boom 2 of the SCARA robot having the plurality of first booms 1 with different wall thicknesses, and the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 6, the actual deformation amount is plotted as ordinate and the wall thickness of the first boom 1 is plotted as abscissa, and the actual change curve of the actual deformation amount of the first boom 1 is plotted. As a specific embodiment, the step of acquiring the actual deformation amount of the corresponding first rotating arm 1 comprises: simulating the load condition of the second rotating arm 2 through a SolidWorks three-dimensional software simulation command to obtain a simulation value of the deformation quantity of the first rotating arm 1, and compensating the simulation value by a coefficient to obtain the actual deformation quantity of the first rotating arm 1.
s02, as shown in fig. 6, a trend curve f (y) -0.0007ln (y) -0.2272 of the deformation of the first rotor arm 1 under the change of the wall thickness is established according to the actual change curve, and in a specific embodiment, the trend curve can be formed by an excel tool.
s03, the wall thickness of the first arm 1 is selected in the interval f (y)' ≧ 0.0007. Since the weight of the first rotating arm 1 increases with the increase of the wall thickness thereof, and once the first rotating arm 1 is too heavy, the load on the speed reducing mechanism, the motor and the like of the robot will be increased, as shown in fig. 6, the wall thickness of the first rotating arm 1 is set to 10mm, and as can be seen from the above-mentioned variation trend curve of the deformation amount and the wall thickness, the speed of the deformation amount changing with the increase of the wall thickness is obviously reduced after the wall thickness is increased to 10mm, and the increased load of the power device can be relatively reduced by setting the wall thickness of the first rotating arm 1 to 10mm under the premise of improving the rigidity under the consideration of the self weight.
Compared with the prior art, the embodiment respectively obtains the deformation quantity of the first rotating arm 1 and the change rule between the height and the wall thickness of the first rotating arm by establishing the relational expression between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm, obtains the change speed condition of the deformation quantity in the height and wall thickness value range by deriving the relational expression, and accordingly obtains the change speed of the deformation quantity in which height size interval and wall thickness size interval the change speed begins to decrease so as to determine the height value range and the wall thickness value range meeting the deformation quantity requirements, and the method can rapidly determine the value ranges of the height and the wall thickness of the first rotating arm 1 of the SCARA robot, and can effectively improve the efficiency of parameter design of the first rotating arm 1.
Example two:
referring to fig. 1 and 2, the present embodiment provides another method for setting parameters of a SCARA robot, which includes a base, a first rotating arm 1 hinged to the base, a second rotating arm 2 hinged to the first rotating arm 1, and an upper arm 12 connected to the upper end of the side wall 11, wherein x in the drawing is the height dimension of the first rotating arm 1, and y is the upper wall thickness dimension of the first rotating arm 1, wherein the length of the first rotating arm 1 is 500mm, the length of the first rotating arm 1 after the first rotating arm 1 and the second rotating arm 2 are completely unfolded is 800mm, and x ∈ [50,100], y ∈ [4,26], and it should be noted that the deformation of the first rotating arm 1 involved in the present embodiment occurs when the first rotating arm 1 and the second rotating arm 2 are completely unfolded.
The parameter setting method comprises a height parameter selection step of the first boom 1:
s01, as shown in fig. 2 and 7, the same load, specifically, the load of 10kg is applied to the second boom 2 of the SCARA robot having the plurality of first booms 1 with different heights, and the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 8, the actual variation curve of the actual deformation amount of the first boom 1 is plotted with the actual deformation amount as the ordinate and the height of the first boom 1 as the abscissa. As a specific embodiment, the step of acquiring the actual deformation amount of the corresponding first rotating arm 1 comprises: simulating the load condition of the second rotating arm 2 through a SolidWorks three-dimensional software simulation command to obtain a simulation value of the deformation quantity of the first rotating arm 1, and compensating the simulation value by a coefficient to obtain the actual deformation quantity of the first rotating arm 1.
s02, as shown in fig. 8, a trend curve f (x) — 0.214ln (x) +0.6613 of the deformation amount of the first rotor arm 1 under the change of the height thereof is established according to the actual trend curve, and in a specific embodiment, the trend curve can be formed by an excel tool.
s03, the height of the first arm 1 is selected in the interval f (x) ≧ 0.0029. However, since the weight of the first boom 1 increases with the increase of the height thereof, and once the first boom 1 is too heavy, the load on the speed reduction mechanism, the motor, and the like of the robot will be increased, as shown in fig. 8, the height of the first boom 1 is set to 75mm, and as can be seen from the above-mentioned variation trend curve of the amount of deformation and the height, the speed of the amount of deformation with the increase of the height is significantly reduced after the height is increased to 75mm, and the load increased by the power plant can be relatively reduced by setting the height of the first boom 1 to 75mm in consideration of the weight thereof, while the rigidity is improved.
The method also comprises the step of selecting the wall thickness parameter of the first rotating arm 1:
s01, as shown in fig. 2 and 9, the same load, specifically, the load of 10kg is applied to the second boom 2 of the SCARA robot having the plurality of first booms 1 with different wall thicknesses, and the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 10, the actual deformation amount is plotted as the ordinate and the wall thickness of the first boom 1 is plotted as the abscissa, and the actual change curve of the actual deformation amount of the first boom 1 is plotted. As a specific embodiment, the step of acquiring the actual deformation amount of the corresponding first rotating arm 1 comprises: simulating the load condition of the second rotating arm 2 through a SolidWorks three-dimensional software simulation command to obtain a simulation value of the deformation quantity of the first rotating arm 1, and compensating the simulation value by a coefficient to obtain the actual deformation quantity of the first rotating arm 1.
s02, as shown in fig. 10, a curve f (y) -0.014ln (y) -0.2826 of the variation of the deformation amount of the first rotor arm 1 under the change of the wall thickness is established according to the actual variation curve, and in a specific embodiment, the curve can be formed by an excel tool.
s03, the wall thickness of the first arm 1 is selected in the interval f (y)' ≧ 0.0018. Since the weight of the first rotating arm 1 increases with the increase of the wall thickness thereof, and once the first rotating arm 1 is too heavy, the load on the speed reducing mechanism, the motor and the like of the robot will be increased, as shown in fig. 10, as a specific embodiment, the wall thickness of the first rotating arm 1 is set to 8mm, and as can be seen from the above-mentioned variation trend curve of the deformation amount and the wall thickness, the speed of the deformation amount changing with the increase of the wall thickness is obviously reduced after the wall thickness is increased to 8mm, and the increased load of the power device can be relatively reduced by setting the wall thickness of the first rotating arm 1 to 8mm under the premise of improving the rigidity under the consideration of the self weight.
Compared with the prior art, the embodiment respectively obtains the deformation quantity of the first rotating arm 1 and the change rule between the height and the wall thickness of the first rotating arm by establishing the relational expression between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm, obtains the change speed condition of the deformation quantity in the height and wall thickness value range by deriving the relational expression, and accordingly obtains the change speed of the deformation quantity in which height size interval and wall thickness size interval the change speed begins to decrease so as to determine the height value range and the wall thickness value range meeting the deformation quantity requirements, and the method can rapidly determine the value ranges of the height and the wall thickness of the first rotating arm 1 of the SCARA robot, and can effectively improve the efficiency of parameter design of the first rotating arm 1.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
- Method for setting parameters of a SCARA robot comprising a base, a first boom articulated to the base, a second boom articulated to the first boom, characterized in that the height of the first boom is defined as x, the method comprising a parameter selection step of the first boom:the relation f (x) ═ aln (x) + b, a ∈ [0.10, 0.11], b ∈ [0.35,0.38], x ∈ [45,100] between the amount of deformation of the first arm when the second arm is loaded and its height is established, and the height dimension of the first arm is selected in the interval f (x) ≧ -0.0018.
- 2. The parameter setting method as claimed in claim 1, wherein the length of the first rotating arm is 300mm, the length of the first rotating arm after the first rotating arm and the second rotating arm are completely unfolded is 600mm, a is 0.109, b is 0.3747, and the height of the first rotating arm is 60 mm.
- 3. The parameter setting method according to claim 1, wherein the wall thickness of the first tumbler is defined as y, and the relation between the amount of deformation of the first tumbler when the second tumbler is loaded and the wall thickness thereof is established as f (y) -cln (y) -d, c e [0.005, 0.009], d e [0.20,0.24], y e [4,26], and the wall thickness dimension of the first tumbler is selected within the interval of f (y)' ≧ 0.0007.
- 4. A parameter setting method according to claim 3, characterized in that the length of the first arm is 300mm, the length of the first arm after the first arm and the second arm are completely unfolded is 600mm, c is 0.0007, d is 0.2272, and the wall thickness of the first arm is 10 mm.
- Method for setting parameters of a SCARA robot comprising a base, a first boom articulated to the base, a second boom articulated to the first boom, characterized in that the height of the first boom is defined as x, the method comprising a parameter selection step of the first boom:the relation f (x) ═ aln (x) + b, a ∈ [0.21, 0.22], b ∈ [0.65,0.7], x ∈ [50,100] between the amount of deformation of the first arm when the second arm is loaded and its height is established, and the height dimension of the first arm is selected in the interval f (x) ≧ -0.0029.
- 6. The parameter setting method as claimed in claim 5, wherein the length of the first rotating arm is 500mm, the length of the first rotating arm after the first rotating arm and the second rotating arm are completely unfolded is 800mm, a is 0.214, b is 0.6613, and the height of the first rotating arm is 75 mm.
- 7. The parameter setting method according to claim 5, wherein the wall thickness of the first arm is defined as y, and the relation between the amount of deformation of the first arm when the second arm is loaded and the wall thickness thereof is established as f (y) -cln (y) -d, c e [0.012, 0.016], d e [0.26,0.30], y e [4,26], and the wall thickness dimension of the first arm is selected in the interval of f (y)' ≧ 0.0018.
- 8. The parameter setting method according to claim 7, wherein the length of the first arm is 500mm, the length of the first arm after the first arm and the second arm are completely unfolded is 800mm, c is 0.014, d is 0.2826, and the wall thickness of the first arm is 8 mm.
- 9. The parameter setting method according to claim 1 or 5, wherein the same load is applied to the second booms of the SCARA robots having different heights of the first booms, respectively, the actual deformation amount corresponding to the first boom is obtained, an actual variation curve of the actual deformation amount of the first boom is plotted with the actual deformation amount as an ordinate and the height of the first boom as an abscissa, and a variation trend curve of the deformation amount of the first boom under the change of the height thereof is established based on the actual variation curve to obtain the relation f (x) -aln (x) + b.
- 10. The parameter setting method according to claim 3 or 7, wherein the same load is applied to the second boom of each of the SCARA robots having the first boom with different wall thicknesses, the actual deformation amount corresponding to the first boom is obtained, an actual variation curve of the actual deformation amount of the first boom is plotted with the actual deformation amount as an ordinate and the wall thickness of the first boom as an abscissa, and a variation trend curve of the deformation amount of the first boom under a change in the wall thickness thereof is established based on the actual variation curve to obtain the relationship f (y) -cln (y) -d.
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| CN107498547A (en) * | 2017-09-26 | 2017-12-22 | 麦格瑞（北京）智能科技有限公司 | A kind of SCARA robots |
| CN109483591A (en) * | 2018-10-23 | 2019-03-19 | 华南理工大学 | Joint of robot frictional force discrimination method based on LuGre friction model |
| CN110154006A (en) * | 2019-06-14 | 2019-08-23 | 苏州大学 | The brachium optimization method of SCARA robot based on genetic algorithm |
| CN110837682A (en) * | 2019-11-11 | 2020-02-25 | 江苏科技大学 | Industrial robot large arm structure optimization method based on orthogonal test |
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