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中文摘要：
介绍了SCARA机器人的传动方案及其具体机械结构,并对它的正运动学与逆运动学加以分析与求解。通过Solid Works与ADAMS软件得出各轴仿真结果,从而选取合适的电机与减速机,使得SCARA机器人的各个关节速度最优化,可以适应不同场合。SCARA机器人的结构设计是实现其装配、快速搬运等重要应用的基础与前提。
英文摘要：
It mainly introduced the transmission scheme of SCARA robot and the specific mechanical structure, and analyzed the forward and inverse kinematics in this paper. Through the simulation result of SolidWorks and ADAMS software, it drawed the axis to select suitable motor and reducer, made the SCARA robot every joint speed optimized which can adapt to different situations. SCARA robot structure design will realize its important applications such as assembly, quick handling the foundation and prem- ise.
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