Research on Key Technologies of New Three Degrees of Freedom Transport Robot

In the traditional SCARA robot engaged in the upper and lower material from the machine, motor and reduction device lie near the end of the execution, which has shortcomings, such as a large space and low efficiency. A new 3 degrees of freedom transfer robot (3-DOF T-robot) was proposed. The robot was set up on the base of the front two joints drive device. Based on this new configuration, the kinematic model was established by means of D-H method. The trajectory planning was created with speed, acceleration and displacement equation with modified trapezoid pattern. The three-dimensional model of the robot was built with SolidWorks software. Then, a simplified robot model and robot body were produced, and the point-to-point motion comparative test and transfer test were simulated. The results show that the physical design of 3-DOF T-robot can effectively reduce the end mass, increase the operating space, and meet the requirements of common functions such as carrying and sorting.