网站建设常熟,厦门免费自助建站模板,企业网站建设报价方案模板,软件详细设计包括哪些内容1、SCARA机器人SCARA#xff08;Selective Compliance Assembly Robot Arm#xff0c;中文译名#xff1a;选择顺应性装配机器手臂#xff09;是一种圆柱坐标型的特殊类型的工业机器人。1978年#xff0c;日本山梨大学牧野洋发明SCARA#xff0c;该机器人具有四个轴和四个…1、SCARA机器人SCARASelective Compliance Assembly Robot Arm中文译名选择顺应性装配机器手臂是一种圆柱坐标型的特殊类型的工业机器人。1978年日本山梨大学牧野洋发明SCARA该机器人具有四个轴和四个运动自由度(包括X,Y,Z方向的平动自由度和绕Z轴的转动自由度)。该系列的操作手在其动作空间的四个方向具有有限刚度而在剩下的其余两个方向上具有无限大刚度。SCARA系统在x,y方向上具有顺从性而在Z轴方向具有良好的刚度此特性特别适合于装配工作例如将一个圆头针插入一个圆孔故SCARA系统首先大量用于装配印刷电路板和电子零部件SCARA的另一个特点是其串接的两杆结构类似人的手臂可以伸进有限空间中作业然后收回适合于搬动和取放物件如集成电路板等。如今SCARA机器人还广泛应用于塑料工业、汽车工业、电子产品工业、药品工业和食品工业等领域。它的主要职能是搬取零件和装配工作。它的第一个轴和第二个轴具有转动特性第三和第四个轴可以根据工作的需要的不同制造成相应多种不同的形态并且一个具有转动、另一个具有线性移动的特性。由于其具有特定的形状决定了其工作范围类似于一个扇形区域。SCARA机器人可以被制造成各种大小最常见的工作半径在100毫米至1000毫米之间此类的SCARA机器人的净载重量在1千克至200千克之间。The SCARA acronym stands for Selective Compliant Assembly Robot Arm and is one that is hard to remember. Its also sometimes referred to as: Selective Compliant Articulated Robot Arm.In general, traditional SCARA’s are 4-axis robot arms, i.e., they can move to any X-Y-Z coordinate within their work envelope. There is a fourth axis of motion which is the wrist rotate (Theta-Z). The ‘X’, ‘Y’ and the ‘Theta-Z’ movements are obtained with three parallel-axis rotary joints. The vertical motion is usually an independent linear axis at the wrist or in the base. By virtue of the SCARA’s parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the ‘Z’ direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations, e.g., inserting a round pin in a round hole without binding.The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or “fold up” out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.SCARA’s are generally faster and cleaner than comparable Cartesian systems. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other hand, SCARAs can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA though and is usually transparent to the end-user2、DELTA机器人Delta机器人就像一个倒挂的有三个脚的蜘蛛因其的灵巧、速度和精确在装配、自动化和医疗设备领域得到应用。但是由于其发明专利控制在少部分人手里Delta并没有得到应有的推广。最近Delta机器人机构设计的专利即将到期使其他制造商有机会生产类似Delta的机器人装置。
