Design and Achievement of Trajectory Planning of the Four-Dof Scara Manipulator |
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Author | LiuLei |
Tutor | JiangMing |
School | Anhui University of Engineering |
Course | Control Theory and Control Engineering |
Keywords | SCARA degree of freedom mechanical arm trajectoryplanning |
CLC | TP241 |
Type | Master's thesis |
Year | 2013 |
Downloads | 56 |
Quotes | 0 |
Recently, the productive efficiency was vital to the rapid development of the automotive, steel and construction industry. Industrial mechanical arm, with its high speed, high precision as well as its long duration of labor, plays an important role in the industries.Mechanical Arm SCARA (Selectively around the Assembly Robot Arm) is a planar manipulator joints type. Plane joint type can locate and garb the objects in the x, y plane. The axis of the parallel rotating joint can locate and the linear lifting movement joints also can grab objects in vertical direction. In our actual life and work, SCARA robot arm has been widely adopted in many applications since its features of high-speed, extreme accuracy, rigid strength, small installation space and large scale freedom.It can greatly improve the work efficiency on assembling, welding, sealing and handling when them were assembled into welding manipulator, spot welding manipulator, dispensing robot arm, handling of mechanical arm and optical detection robot. Meantime, with the robotics establishment, the development of the relevant discipline as well as the variety of industrial demand, mechanical arm will be extended to multi-degree of freedom. An additional freedom will exponentially increase the difficulty of the coordinating operations of the joints such as the path constraints and gesture constraints between this and another joint. Hence, the research on the trajectory of robotic arm is basic to control it well and it is also our ultimate goal realizing the controlling of multi-degree of freedom. Further more it is a reflection of its real value.Because the trajectory planning in SCARA type manipulator plays important role in the efficient and stable operation, in this paper we design a kind of industrial mechanical arm SCARA trajectory planning algorithm, aimed at small objects handling for the homework assignment, with four and six degrees of freedom mechanical arm to research the trajectory planning algorithm by the linear interpolation and circular interpolation in Cartesian coordinate space. The simulation shows that it can effectively improve the control precision and work efficiency by using the trajectory planning of the mechanical arm.The main content of this paper consists of five chapters, each chapter is as follows:In the first chapter, we surveyed the manipulator of our selection in this paper firstly, then, we showed the values of the research in the application and the real-time effect.In the second chapter, specific to the moving of small objects, we chose the four degrees of freedom mechanical arm as the controlled member to determine the transmission scheme and to introduce the compositions of the control system of hardware and software of four degrees of freedom mechanical arm, meantime, we demonstrated the rationality and feasibility of the system.In the third chapter, we analysed the demand of customer and conducted a kinematical calculation. We also briefed the concept of trajectory planning and the core of the interpolation arithmetic of trajectory planning.In the fourth chapter, we compiled the trajectory planning algorithm and got the PUMA560modeling of six degrees of freedom mechanical arm based on MATLAB.In the fifth chapter, we summarized our work and put forward the deficiencies and prospects.