Simulation Research on Direct-Drive SCARA Robot

This is a small light-load, seft-designed, direct-drive SCARA robot. Firstly, the kinematics of the virtual prototype model is verified in cartesian space. Then, in the MATLAB and ADAMS software environment, the virtual prototype model was jointly simulated to obtain the dynamic response curve of the robot. The rationality of the direct drive SCARA's design scheme is verified, which provides reference and basis for the manufacture of physical prototype.