SCARA Modeling and Simulation based on SimMechanics and Solidworks

摘要

Aiming at the problem of SCARA modeling and motion control simulation, the kinematics model of robot is established by D-H parameter method, the 3D structure model of robot is established by Solidworks, and the simulation modules of robot dynamics model, trajectory planning, controller and data acquisition function are designed by Matlab/SimMechanics. The trajectory is generated by linear interpolation, and the SCARA dynamic simulation is carried out by PID control method The validity of each function module of the robot model is verified by simulation. This model provides an open source platform for robot trajectory planning and motion control algorithm.