Modelling and Simulation of SCARA Robot using MATLAB/SimMechanics

Abstract

In order to study the kinematics characteristics of SCARA robot, kinematics simulation of ABB IRB-910SC-3/0.65 robot mechanism is carried out. The forward kinematics model of the robot is established by using D-H parameters. The SimMechanics function module is used to draw the system structure block diagram and simulate, in order to obtain the displacement, velocity and acceleration simulation curve of each joint of the robot. The modeling method is fast and intuitive, and the simulation results are accurate. At the same time, it has good feasibility for secondary development.