CAJ | 학술논문

为了设计出一种在结构和传动性能上更为优越的SCARA平面关节式机器人，在传统设计的基础上，根据装配机器人的总体要求和主要技术参数，在 SolidWorks 环境下，对SCARA机器人进行了三维模型设计，并选择减速电机与同步带配合传动为最终方案；通过分析SCARA装配机器人的结构及特点要求，采用丝杠螺母与花键母配合的方式，对主轴结构进行了优化；在SolidWorks Motion模块中进行运动学仿真，得到运动方向的曲线图，证明了该方案的合理性，为物理样机的制造提供了借鉴和依据。
위료설계출일충재결구화전동성능상경위우월적SCARA평면관절식궤기인，재전통설계적기출상，근거장배궤기인적총체요구화주요기술삼수，재 SolidWorks 배경하，대SCARA궤기인진행료삼유모형설계，병선택감속전궤여동보대배합전동위최종방안；통과분석SCARA장배궤기인적결구급특점요구，채용사강라모여화건모배합적방식，대주축결구진행료우화；재SolidWorks Motion모괴중진행운동학방진，득도운동방향적곡선도，증명료해방안적합이성，위물리양궤적제조제공료차감화의거。
In order to design a SCARA robot that the structure and transmission performance is more superior ,base on the traditional design ,according to the requirements and main tech-nical parameters of the assembly robots ,designed 3D solid model with environment of the SolidWorks ,and chose the gear motor and belt drive for the final program ;the spindle struc-ture has been optimized by analyzing the structure and characteristics of requirements and u-sing the fitting manner of spline nut and screw nut .The result of the kinematics simulation in SolidWorks Motion is the motion directions graphs ,which demonstrate the reasonableness of the program ,to provide a reference and basis for the physical prototype manufacturing .