Analysis of Peak Torque of SCARA Robot Based on ADAMS

With four degree-freedom,SCARA robot has more complex motion space,so the pose and velocity at a certain moment may have great impact on the required driving torque of each joint; what's more,the motion of each component has interactions,so it is difficult to acquire direct solution to peak torque of each joint.In this study,assembly model of robot has been established in CATIA,and three-dimensional simulation model of SCARA robot has been set up in the introduction of ADAMS.Constraints have been applied to the kinematic pair,and the maximum velocity of each axis has been taken as design variables,so as to drive each axis motion with specified velocity curve.Through searching in inertial space range of motor,the peak torque of each axle shaft can be acquired and the reasonable selection of the robot motor can be achieved.This study offers some reference for the robot design.