目的 针对传统四自由度SCARA机器人末端灵活性不足的问题，设计一种新型的六自由度SCARA机器人。方法 首先在传统四自由度SCARA机器人结构特点分析的基础上，通过改进其末端结构以增加机器人的自由度，从而提高其末端的灵活性。然后分别采用D–H参数法与代数法建立该机器人的运动学正解模型与逆解模型。在此基础上，采用对比法在Matlab的Robotics Toolbox工具箱中对该机器人开展仿真分析，验证机器人运动学模型的正确性。最后，基于五次多项式插值算法对机器人开展轨迹规划研究。结果 实验结果显示该机器人的运动轨迹、速度与加速度曲线光滑连续，没有任何断点与突变点。结论 表明该机器人运动平稳，具有良好的运动学性能，从而为后续该机器人的运动控制奠定了良好的基础。

The work aims to design a new SCARA robot with six degree of freedom to solve the inflexibility for the end of the traditional SCARA robot with four degree of freedom. Firstly, based on the analysis of the structural characteristics of the traditional four degree of freedom SCARA robot, the end structure was improved to increase the degree of freedom of the robot, so as to improve the flexibility of the end. Then, the forward and inverse kinematics models of this robot were established by D-H parameter method and algebraic method respectively. On this basis, the simulation analysis of this robot was carried out in the robotics toolbox of Matlab with the comparison method, and the correctness of the kinematics model was verified. Finally, the trajectory planning of this robot was studied based on the quintic polynomial interpolation algorithm. The experimental results showed that the trajectory, velocity and acceleration curves of this robot were smooth and continuous without any breakpoints and abrupt points. It indicates that the robot moves smoothly and has good kinematic performance. It lays a good foundation for the subsequent motion control of this robot.