AN INVESTIGATION INTO THE COMPLIANCE OF SCARA ROBOTS .1. ANALYTICAL MODEL

被引：4

作者：

ELMARAGHY, HA ^{[1
]}

JOHNS, B ^{[1
]}

机构：

[1] MCMASTER UNIV,DEPT MECH ENGN,HAMILTON L8S 4L7,ONTARIO,CANADA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1988年 / 110卷 / 01期

关键词：

MATHEMATICAL MODELS - ROBOTIC ASSEMBLY - ROBOTS; INDUSTRIAL; -; Arms;

D O I：

10.1115/1.3152641

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A special class of robots suited for assembly tasks called SCARA (Selective Compliance Assembly Robot Arm) provides a degree of built-in flexibility due to robot structure. In such robots there are three revolute joints and a prismatic joint. They offer four degrees of freedom consisting of rotation about two vertical and parallel axes at the revolute joints, and translation and rotation about the tool axis. A mathematical model which expresses the end effector deflection as a function of the robot Jacobian and the drive compliance parameters in Cartesian coordinates has been developed. The modified generalized assembly force model developed for the Selective Compliance Assembly Robot Arms (SCARA), used in this investigation, is described. Constraints required to prevent jamming and wedging of parts during assembly are outlined.

引用

页码：18 / 22

页数：5