CN111975757B - Parameter setting method of SCARA robot - Google Patents
Parameter setting method of SCARA robot Download PDFInfo
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- CN111975757B CN111975757B CN202010877360.5A CN202010877360A CN111975757B CN 111975757 B CN111975757 B CN 111975757B CN 202010877360 A CN202010877360 A CN 202010877360A CN 111975757 B CN111975757 B CN 111975757B
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- 238000004088 simulation Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 description 11
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- 230000007423 decrease Effects 0.000 description 3
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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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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention belongs to the field of robots, in particular to a parameter setting method of a SCARA robot, which obtains a change rule between the deformation quantity of a first rotating arm and the height of the first rotating arm by establishing a relation between the deformation quantity of the first rotating arm and the height of the first rotating arm, obtains the change speed condition of the deformation quantity in a height value range by deriving the relation, and obtains the change speed condition of the deformation quantity in which height dimension range begins to be reduced so as to determine the height value range meeting the requirement of the deformation quantity.
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 rotary arm and a second rotary arm, wherein the first rotary arm is hinged with the base, the second rotary arm is hinged with the first rotary arm, the axes of the three rotary joints are parallel to each other, a mechanism for operating in the vertical direction is arranged on the second rotary arm, the rigidity effect of the second rotary arm is basically determined by the mechanism arranged on the second rotary arm, the first rotary arm is used as a main force arm, the load on the second rotary arm and the self weight of the second rotary arm can lead the first rotary arm to generate certain deformation, so the rigidity of the first rotary arm directly influences the rigidity effect of the whole SCARA robot, and the rigidity of the first rotary arm is determined by a speed reducing mechanism selected by the robot mainly due to the fact that the material of the first rotary arm is made of lighter aluminum alloy, the length of the first rotary arm is determined by the stroke of the robot, and the rigidity of the first rotary arm is mainly determined by the height dimension of the first rotary arm, so the method for setting parameters of the SCARA robot is developed to determine the height dimension of the first rotary arm to be necessary 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:
the parameter setting method of 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, wherein the height of the first rotating arm is defined as x, and the parameter setting method comprises the parameter selection step of the first rotating arm:
and establishing a relation f (x) = -aln (x) +b between the deformation amount of the first rotating arm and the height of the second rotating arm when the second rotating arm is applied with load, wherein a epsilon [0.10,0.11], b epsilon [0.35,0.38], x epsilon [45,100], and the height size of the first rotating arm is selected in the interval of f (x)' -0.0018.
Compared with the prior art, the method and the device have the advantages that the change rule between the deformation quantity of the first rotating arm and the height of the first rotating arm is obtained by establishing the relation 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 deriving the relation, so that the change speed of the deformation quantity in which height dimension range begins to be reduced is obtained, the height value range meeting the deformation quantity requirement is determined, the value range of the height of the first rotating arm of the SCARA robot can be rapidly determined, and the efficiency of parameter design of the first rotating arm can be effectively improved.
Further, the length of the first rotating arm is 300mm, the length of the first rotating arm and the length of the second rotating arm after the first rotating arm and the second rotating arm are completely unfolded are 600mm, wherein a is 0.109, b is 0.3747, namely, the relation between the deformation amount of the first rotating arm and the height is f (x) = -0.109ln (x) +0.3747, meanwhile, in order to avoid the overweight of the first rotating arm, the height of the first rotating arm is set to be 60mm, in order to prevent the load of a speed reducing mechanism, a motor and the like from increasing, the speed of changing along with the increase of the height is obviously reduced after the height is increased to 60mm through a curve drawn by the relation, and the load increased by the power device can be relatively reduced under the condition that the height of the first rotating arm is set to be 60mm under the condition of improving the rigidity by taking the self weight into consideration.
Further, defining the wall thickness of the first rotating arm as y, establishing a relation f (y) = -cln (y) +d, c epsilon [0.005,0.009], d epsilon [0.20,0.24], y epsilon [4,26] between the deformation amount of the first rotating arm when the second rotating arm is applied with load and the wall thickness, and selecting the wall thickness size of the first rotating arm in the interval of f (y)' more than or equal to-0.0007. The change rule between the deformation quantity of the first rotating arm and the wall thickness of the first rotating arm is obtained by establishing a relation between the deformation quantity of the first rotating arm and the wall thickness of the first rotating arm, and the change speed condition of the deformation quantity in the wall thickness value range is obtained by deriving the relation, so that the change speed of the deformation quantity in which wall thickness size range is reduced is obtained, the wall thickness value range meeting the deformation quantity requirement is determined, the value range of the wall thickness of the first rotating arm of the SCARA robot can be rapidly determined by the method, and the efficiency of the parameter design of the first rotating arm can be effectively improved.
Further, c is 0.0007 and d is 0.2272, that is, the relation between the deformation amount of the first rotating arm and the wall thickness thereof is f (y) = -0.0007ln (y) +0.2272, and in order to avoid the first rotating arm from being excessively heavy and to prevent the load from being added to the reduction mechanism, the motor, and the like, the wall thickness of the first rotating arm is set to 10mm, and as is known from the curve drawn by the relation, after the wall thickness is increased to 10mm, the speed at which the deformation amount changes with the increase of the wall thickness is significantly reduced, and in consideration of the self weight thereof, the influence on the power device of the robot can be reduced by setting the wall thickness of the first rotating arm to 10mm under the premise of improving the rigidity.
The invention provides a parameter setting method of a SCARA robot, which comprises a base, a first rotating arm hinged with the base, and a second rotating arm hinged with the first rotating arm, wherein 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:
establishing a relation f (x) = -aln (x) +b between the deformation amount of the first rotating arm and the height of the second rotating arm when the second rotating arm is applied with load, wherein a epsilon [0.21,0.22], b epsilon [0.65,0.7], x epsilon [50,100], and the height dimension of the first rotating arm is selected in the interval of f (x)' -0.0029.
Compared with the prior art, the method and the device have the advantages that the change rule between the deformation quantity of the first rotating arm and the height of the first rotating arm is obtained by establishing the relation 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 deriving the relation, so that the change speed of the deformation quantity in which height dimension range begins to be reduced is obtained, the height value range meeting the deformation quantity requirement is determined, the value range of the height of the first rotating arm of the SCARA robot can be rapidly determined, and the efficiency of parameter design of the first rotating arm can be effectively improved.
Further, the length of the first rotating arm is 500mm, the length of the first rotating arm and the second 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, namely, the relation between the deformation amount of the first rotating arm and the height thereof is f (x) = -0.214ln (x) +0.6613, meanwhile, in order to avoid the overweight of the first rotating arm and prevent the load on a speed reducing mechanism, a motor and the like from increasing, the height of the first rotating arm is 75mm, and the speed of changing along with the increase of the deformation amount is obviously reduced after the height is increased to 75mm through a curve drawn by the relation, and the load increased by the power device can be relatively reduced under the premise of improving the rigidity by setting the height of the first rotating arm to 75mm under the consideration of the self weight.
Further, defining the wall thickness of the first rotating arm as y, establishing a relation f (y) = -cln (y) +d, c epsilon [0.012,0.016], d epsilon [0.26,0.30], y epsilon [4,26] between the deformation amount of the first rotating arm when the second rotating arm is applied with load and the wall thickness, and selecting the wall thickness size of the first rotating arm in the interval of f (y)' more than or equal to-0.0018. The change rule between the deformation quantity of the first rotating arm and the wall thickness of the first rotating arm is obtained by establishing a relation between the deformation quantity of the first rotating arm and the wall thickness of the first rotating arm, and the change speed condition of the deformation quantity in the wall thickness value range is obtained by deriving the relation, so that the change speed of the deformation quantity in which wall thickness size range is reduced is obtained, the wall thickness value range meeting the deformation quantity requirement is determined, the value range of the wall thickness of the first rotating arm of the SCARA robot can be rapidly determined by the method, and the efficiency of the parameter design of the first rotating arm can be effectively improved.
Further, c is 0.014 and d is 0.2826, that is, the relation between the deformation amount of the first arm and the wall thickness thereof is f (y) = -0.014ln (y) +0.2826, and in order to avoid the first arm from being excessively heavy and to prevent the load from being applied to the reduction mechanism, the wall thickness of the first arm is 8mm, and as is known from the curve drawn by the relation, the speed of change of the deformation amount with the increase of the wall thickness is significantly reduced after the wall thickness is increased to 8mm, and the influence on the power device of the robot can be reduced while the wall thickness of the first arm is 8mm in consideration of the self weight thereof.
Drawings
FIG. 1 is a schematic view of a first boom;
FIG. 2 is a schematic structural view of a first swivel arm and a second swivel arm;
FIG. 3 is a table showing the height of the first arm and the actual deformation amount according to the first embodiment;
FIG. 4 is a graph showing the actual variation curve and variation trend of the first rotating arm with respect to the height and the deformation amount according to the first embodiment;
FIG. 5 is a table showing the wall thickness of the first arm and the actual deformation amount according to the first embodiment;
FIG. 6 is a graph showing actual variation curves and variation trend curves of the first rotating arm with respect to wall thickness and deformation amount according to the first embodiment;
FIG. 7 is a table showing the height of the first arm and the actual deformation amount according to the second embodiment;
FIG. 8 is a graph showing the actual variation curve and variation trend of the first rotating arm with respect to the height and the deformation amount according to the second embodiment;
FIG. 9 is a table showing the wall thickness of the first arm and the actual deformation amount according to the second embodiment;
fig. 10 is an actual change curve and a change trend curve of the wall thickness and the deformation amount of the first rotating arm according to the second embodiment.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Embodiment one:
referring to fig. 1 and 2, the present embodiment provides a parameter setting method of a SCARA robot, where the SCARA robot includes a base, a first rotating arm 1 hinged to the base, and a second rotating arm 2 hinged to the first rotating arm 1, and includes a side wall 11 and an upper arm 12 connected to an upper end of the side wall 11, where x is a height dimension of the first rotating arm 1 and y is a wall thickness dimension of the first rotating arm 1 in the figure, where a length of the first rotating arm 1 is 300mm, a length of the first rotating arm 1 and the second rotating arm 2 after being fully unfolded is 600mm, x e [45,100], y e [4,26], and it should be noted that deformation of the first rotating arm 1 in the present embodiment occurs in a fully unfolded condition of the first rotating arm 1 and the second rotating arm 2.
The parameter setting method comprises the step of selecting the height parameter of the first rotating arm 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 different heights of the plurality of first booms 1, 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 drawn by taking the actual deformation amount as an ordinate and the height of the first boom 1 as an abscissa. As a specific embodiment, the step of obtaining the actual deformation amount corresponding to the first boom 1 includes: and 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 obtaining the actual deformation quantity of the first rotating arm 1 through compensating the simulation value by a coefficient.
s02, as shown in fig. 4, a change trend curve f (x) = -0.109ln (x) +0.3747 of the deformation amount of the first rotating arm 1 under the change of the height thereof is established according to an actual change curve, and in a specific embodiment, the change trend curve is formed by an excel tool.
s03, selecting the height dimension of the first rotating arm 1 in the interval that f (x)' -0.0018 is not less than. Since the weight of the first arm 1 increases with the increase in height, the reduction mechanism, motor, etc. of the robot will increase the load when the first arm 1 is excessively heavy, and as a specific embodiment, the height of the first arm 1 is set to 60mm, and as shown in fig. 4, the speed of change of the deformation amount with the increase in height decreases significantly after the increase in height by the change trend curve of the deformation amount and height, and the load added by the power unit can be reduced relatively by setting the height of the first arm 1 to 60mm in consideration of the weight thereof, while increasing the rigidity.
The method further comprises the step of selecting wall thickness parameters 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 different wall thicknesses of the plurality of first booms 1, the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 6, the actual change curve of the actual deformation amount of the first boom 1 is drawn by taking the actual deformation amount as an ordinate and the wall thickness of the first boom 1 as an abscissa. As a specific embodiment, the step of obtaining the actual deformation amount corresponding to the first boom 1 includes: and 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 obtaining the actual deformation quantity of the first rotating arm 1 through compensating the simulation value by a coefficient.
s02, as shown in fig. 6, a change trend curve f (y) = -0.0007ln (y) +0.2272 of the deformation amount of the first rotating arm 1 under the change of the wall thickness thereof is established according to an actual change curve, and in a specific embodiment, the change trend curve is formed by an excel tool.
s03, selecting the wall thickness dimension of the first rotating arm 1 in the interval of f (y)' -0.0007. Since the weight of the first arm 1 increases with the increase in wall thickness, the reduction mechanism, motor, etc. of the robot will be increased by the first arm 1 being excessively heavy, and as a specific embodiment, the wall thickness of the first arm 1 is set to 10mm, and as shown in fig. 6, the rate of change of the deformation amount with the increase in wall thickness decreases significantly after the increase in wall thickness is 10mm, and the load applied to the power unit can be reduced relatively by setting the wall thickness of the first arm 1 to 10mm in consideration of the weight thereof, while increasing the rigidity.
Compared with the prior art, the method has the advantages that the relation between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm 1 is established to obtain the change rule between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm, and the change speed condition of the deformation quantity in the height and the wall thickness range is obtained by deriving the relation, so that the change speed of the deformation quantity in the height size range and the wall thickness size range is obtained, the height and the wall thickness range meeting the deformation quantity requirement are determined, and the height and the wall thickness range of the first rotating arm 1 of the SCARA robot can be determined quickly.
Embodiment two:
referring to fig. 1 and 2, the present embodiment provides another parameter setting method of a SCARA robot, where the SCARA robot includes a base, a first rotating arm 1 hinged to the base, and a second rotating arm 2 hinged to the first rotating arm 1, and includes a side wall 11 and an upper arm 12 connected to an upper end of the side wall 11, where x is a height dimension of the first rotating arm 1, and y is an upper wall thickness dimension of the first rotating arm 1, where a length of the first rotating arm 1 is 500mm, a length of the first rotating arm 1 and the second rotating arm 2 after being fully unfolded is 800mm, x e [50,100], y e [4,26], and it should be noted that deformation of the first rotating arm 1 in this embodiment occurs when the first rotating arm 1 and the second rotating arm 2 are fully unfolded.
The parameter setting method comprises the step of selecting the height parameter of the first rotating arm 1:
s01, as shown in fig. 2 and 7, the same load, specifically, 10kg, is applied to the second boom 2 of the SCARA robot having different heights of the plurality of first booms 1, the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 8, the actual change curve of the actual deformation amount of the first boom 1 is drawn by taking the actual deformation amount as an ordinate and the height of the first boom 1 as an abscissa. As a specific embodiment, the step of obtaining the actual deformation amount corresponding to the first boom 1 includes: and 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 obtaining the actual deformation quantity of the first rotating arm 1 through compensating the simulation value by a coefficient.
s02, as shown in fig. 8, a change trend curve f (x) = -0.214ln (x) +0.6613 of the deformation amount of the first rotating arm 1 under the change of the height thereof is established according to an actual change curve, and in a specific embodiment, the change trend curve is formed by an excel tool.
s03, selecting the height dimension of the first rotating arm 1 in the interval of f (x)' -0.0029. However, since the weight of the first boom 1 increases with the increase in height, the reduction mechanism, the motor, and the like of the robot are increased by the first boom 1 being excessively heavy, and as a specific embodiment, the height of the first boom 1 is set to 75mm, and as shown in fig. 8, the speed of change of the deformation amount with the increase in height is significantly reduced after the increase in height by the change trend curve of the deformation amount and height, and the load added by the power device can be relatively reduced by setting the height of the first boom 1 to 75mm in consideration of the weight thereof.
The method further comprises the step of selecting wall thickness parameters of the first rotating arm 1:
s01, as shown in fig. 2 and 9, the same load, specifically, 10kg, is applied to the second boom 2 of the SCARA robot having the different wall thicknesses of the plurality of first booms 1, the actual deformation amount corresponding to the first boom 1 is obtained, and as shown in fig. 10, the actual change curve of the actual deformation amount of the first boom 1 is drawn by taking the actual deformation amount as the ordinate and the wall thickness of the first boom 1 as the abscissa. As a specific embodiment, the step of obtaining the actual deformation amount corresponding to the first boom 1 includes: and 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 obtaining the actual deformation quantity of the first rotating arm 1 through compensating the simulation value by a coefficient.
s02, as shown in fig. 10, a change trend curve f (y) = -0.014ln (y) +0.2826 of the deformation amount of the first rotary arm 1 with a change in the wall thickness thereof is established from the actual change curve, and in a specific embodiment, the change trend curve is formed by an excel tool.
s03, selecting the wall thickness dimension of the first rotating arm 1 in the interval of f (y)' -0.0018. Since the weight of the first arm 1 increases with the increase in wall thickness, the reduction mechanism, motor, etc. of the robot will be increased by the first arm 1 being excessively heavy, and as a specific embodiment, the wall thickness of the first arm 1 is set to 8mm, and as shown in fig. 10, the rate of change of the deformation amount with the increase in wall thickness decreases significantly after the wall thickness increases to 8mm, and the load of the power device can be relatively reduced by setting the wall thickness of the first arm 1 to 8mm in consideration of the weight thereof, while increasing the rigidity.
Compared with the prior art, the method has the advantages that the relation between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm 1 is established to obtain the change rule between the deformation quantity of the first rotating arm 1 and the height and the wall thickness of the first rotating arm, and the change speed condition of the deformation quantity in the height and the wall thickness range is obtained by deriving the relation, so that the change speed of the deformation quantity in the height size range and the wall thickness size range is obtained, the height and the wall thickness range meeting the deformation quantity requirement are determined, and the height and the wall thickness range of the first rotating arm 1 of the SCARA robot can be determined quickly.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (9)
- The parameter setting method of 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, and is characterized in that the height of the first rotating arm is defined as x, the first rotating arm and the second rotating arm are fully unfolded, and the parameter setting method comprises the parameter selection steps of the first rotating arm:respectively applying the same load to second rotating arms of the SCARA robots with different heights of the first rotating arms to obtain the actual deformation quantity of the corresponding first rotating arms: simulating the load condition of the second rotating arm through three-dimensional software to obtain a simulation value of the deformation quantity of the first rotating arm, and obtaining the actual deformation quantity of the first rotating arm after the simulation value is compensated by a compensation coefficient;drawing an actual change curve of the actual deformation amount of the first rotating arm by taking the actual deformation amount as an ordinate and taking the height of the first rotating arm as an abscissa,and (3) establishing a relation f (x) = -aln (x) +b between the deformation amount of the first rotating arm generated when the second rotating arm is loaded and the height of the first rotating arm according to an actual change curve, wherein a epsilon [0.10,0.11], b epsilon [0.35,0.38], x epsilon [45,100], and the height dimension of the first rotating arm is selected in the interval of f (x)' -0.0018.
- 2. The parameter setting method according to 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 60mm.
- 3. The parameter setting method according to claim 1, wherein a wall thickness of the first arm is defined as y, a relation f (y) = -cln (y) +d between an amount of deformation of the first arm when the second arm is loaded and the wall thickness thereof is established, c e [0.005,0.009], d e [0.20,0.24], y e [4,26], and a wall thickness dimension of the first arm is selected within an interval f (y)' is not less than 0.0007.
- 4. A parameter setting method according to claim 3, wherein the length of the first rotating arm is 300mm, the length of the first rotating arm and the second rotating arm after the first rotating arm and the second rotating arm are completely unfolded is 600mm, c is 0.0007, d is 0.2272, and the wall thickness of the first rotating arm is 10mm.
- The parameter setting method of 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, and is characterized in that the height of the first rotating arm is defined as x, the first rotating arm and the second rotating arm are fully unfolded, and the parameter setting method comprises the parameter selection steps of the first rotating arm:respectively applying the same load to second rotating arms of the SCARA robots with different heights of the first rotating arms to obtain the actual deformation quantity of the corresponding first rotating arms: simulating the load condition of the second rotating arm through three-dimensional software to obtain a simulation value of the deformation quantity of the first rotating arm, and obtaining the actual deformation quantity of the first rotating arm after the simulation value is compensated by a compensation coefficient;drawing an actual change curve of the actual deformation amount of the first rotating arm by taking the actual deformation amount as an ordinate and taking the height of the first rotating arm as an abscissa,according to the actual change curve, establishing a relation f (x) = -aln (x) +b, a epsilon [0.21,0.22], b epsilon [0.65,0.7], x epsilon [50,100], and selecting the height dimension of the first rotating arm in the interval of f (x)' -0.0029, wherein the relation f (x) = -aln (x) +b is formed between the deformation amount of the first rotating arm and the height of the second rotating arm when the second rotating arm is applied with load.
- 6. The method of setting parameters according to claim 5, wherein the length of the first rotating arm is 500mm, the length of the first rotating arm and the second 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 75mm.
- 7. The method according to claim 5, wherein the wall thickness of the first arm is defined as y, and a relation f (y) = -cln (y) +d, c e [0.012,0.016], d e [0.26,0.30], y e [4,26], between the deformation amount of the first arm when the second arm is loaded, and the wall thickness thereof is established, and the wall thickness dimension of the first arm is selected within the interval f (y)' is not less than 0.0018.
- 8. The method of setting parameters 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 fully extended is 800mm, c is 0.014, d is 0.2826, and the wall thickness of the first arm is 8mm.
- 9. The parameter setting method according to claim 3 or 7, characterized in that the same load is applied to the second rotating arms of the SCARA robots with different wall thicknesses of the plurality of first rotating arms respectively, the actual deformation amount corresponding to the first rotating arms is obtained, the actual change curve of the actual deformation amount of the first rotating arms is drawn by taking the actual deformation amount as an ordinate and the wall thickness of the first rotating arms as an abscissa, and the change trend curve of the deformation amount of the first rotating arms under the change of the wall thickness is established according to the actual change curve, so that the relation f (y) = -cln (y) +d is obtained.
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| 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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| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| 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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