Dynamics Modeling and Simulation of SCARA Robot Based on Lagrangian Method

SCARA robots are a common type of industrial robots, which widely used in tasks such as assembly, processing, and handling. Their design incorporates horizontal rotary joints and translational joints, resulting in high repeatability of positioning accuracy and speed, making them particularly suitable for scenarios requiring rapid and precise operations. However, to achieve precise control of SCARA robots, it is essential to establish an accurate mathematical model. An accurate mathematical model can precisely describe the kinematic and dynamic characteristics of a SCARA robot. Through this model, we can gain insights into the robot's motion patterns under various working conditions, including changes in key parameters such as position, velocity, and acceleration. In this paper, we first use the Modified Denavit-Hartenberg method to model the kinematics of the SCARA robot, derive its kinematic equations, and verify them through simulations in MATLAB's Robotics Toolbox. Subsequently, we conduct dynamic modeling of the SCARA robot based on the Lagrangian method. Finally, we successfully construct a three-dimensional model of the SCARA robot using SOLIDWORKS software. To further verify the accuracy of the established dynamic model, we import it into the Adams simulation environment, laying a solid foundation for subsequent in-depth simulation research on control strategies.