The Kinematics Analysis and Trajectory Planning of SCARA Manipulator

摘要

The trajectory planning of SCARA robot was used in the pharmaceutical packaging machine(DPP-400 aluminumplastic plate blister machine),using the inverse kinematic solution to solve the variation of each joint at the target point,using quintic polynomial interpolation programming method for the manipulator trajectory planning of joint space,and combining the ROOT toolbox of MATLAB software to establish three-dimensional model of the manipulator,displacement,velocity and acceleration is obtained by the simulation of three smooth continuous movement curve; and then set up 1:1 simplified model of virtual prototype in ADAMS,by writing quintic polynomial drive function,and simulates joint in the X,Y,Z three directions of the stress of the smooth and continuous curve,finally comprehensive analyzes motion curve and force curve function which meets the requirement of trajectory planning.