Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink (original) (raw)
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Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink
International Journal of Modelling, Identification and Control, 2012
A complete mathematical model of SCARA robot was developed and presented in this paper including servomotor dynamics and dynamics simulation. The equations of motion were derived by using Lagrangian mechanics. Direct current (DC) servomotor driving each robot joint was studied and modelled. SCARA robot was constructed to achieve drilling operation using solid dynamics (SD) software. The performance of the robot-actuator system was examined with solid dynamic simulation and verified with MATLAB/Simulink. The results of simulations were discussed. The facilities of the programmes (investigate, design, visualise, and test an object even if it does not exists) used for kinematic and dynamic simulation of robot systems were emphasised.
Revista Facultad de Ingeniería Universidad de Antioquia
in Japan [1]. SCARA is compact and the working envelopes are relatively limited. Today SCARA robots are very widely used in manufacturing industries for their high speed, short cycle time, advanced control for path precision and controlled compliance to perform the necessary light duty tasks to achieve high flexibility, dexterity and productivity. Few light duty applications of SCARA are product inspection, touch panel evaluation, conveying masks for wafers, screw tightening, stacking electronics components, inserting components in printed circuit boards, tapping, chamfering, deburring, drilling, welding, soldering, gluing, packing, loading and unloading parts of an automated line. Nowadays, automotive, electrical and electronics industries are utilizing SCARA robots [2]. The flexibility in workspace
Kinematics Modeling and Simulation of SCARA Robot Arm
International Journal of Modern Research in Engineering and Technology
Pick and place task is one among the most important tasks in industrial field handled by "Selective Compliance Assembly Robot Arm" (SCARA). Repeatability with high-speed movement in horizontal plane is remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving stability of high-speed movement with long length of links. Shorter links arm can move more stable. This condition made the links should be considered restrict then followed by restriction of operation area (workspace). In this research, authors demonstrated on expanding SCARA robot's workspace in horizontal area via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become 4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m 2 performed by the previous arm (without linear actuator) to 1.1281m 2 by the propose arm (with linear actuator). The increasing rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated that the operation time spent to reach object position was also reduced.
IEEE, 2015
SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.
Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator
Scientia Iranica, 2018
In this study, a SCARA PRR-type robot manipulator is designed and implemented. Firstly, the SCARA robot was designed according to the mechanical calculations. Then, forward and inverse kinematic equations of the robot are derived by using D-H parameters and analytical methods. The software is developed according to obtain cartesian velocities from joint velocities and joint velocities from cartesian velocities. The trajectory planning is designed using the calculated kinematic equations and the simulation is performed in MATLAB VRML environment. A stepping motor is used for prismatic joint of the robot, and servo motors are used for revolute joints. While most of the SCARA robot studies focus on RRP-type servo control strategy, this work focuses PRR-type and both stepper and servo control structures. The objects in the desired points of the workspace are picked and placed to another desired point synchronously with the simulation. So the performance of the robot is examined experimentally.
Design and Kinematics Analysis of a Drilling Robot
This study deals with the design and kinematical analysis of a drilling robot with five degrees of freedom. It has been designed through a three-dimensional CAD program and subjected to static analysis test via the analysis module of the same program. Revolving joints have been used for each linkage. Thanks to robotic arm design, it is aimed at carrying out operations with high sensitivity in which human factor is excluded in automation-weighted assembly lines.
IJERT-Design and Manufacturing of Low Cost SCARA Robot
International Journal of Engineering Research and Technology (IJERT), 2021
https://www.ijert.org/design-and-manufacturing-of-low-cost-scara-robot https://www.ijert.org/research/design-and-manufacturing-of-low-cost-scara-robot-IJERTV10IS060027.pdf This report deals with the Design and Fabrication of a Selective Compliance Articulated Robot Arm (SCARA). SCARA robots are among the most widely used robots in the industry due to their high accuracy and inherent rigidity. Robotics is becoming popular and has achieved great success in the last few decades but automation isn't cheap so everyone cannot afford to transform his unit from manual to automatic. The main objective of this project was to develop a low-cost robotic arm that can be used for Pick and Place operations. Here controlling of the robot has been done by using NEMA 17 Stepper Motors and Arduino UNO. This robot is having 4 DOF and can be controlled by a Graphic User Interface that features both Forward and Inverse Kinematics control. By changing the program of the end-effector this robotic arm can be used in vast applications but mainly it can be used in the automatic assembly lines
A new concept of the SCARA robot
Robotics and Computer-integrated Manufacturing, 1990
Based on the SCARA concept, accepted worldwide, this paper considers the possibility of realizing SCARA with a full circle working area. The basis of the approach is a mechanism with two eccentrically positioned rotating discs instead of two joined links. In this way, apart from a circular working area and some other advantages, the installation of several tools (hands) is also facilitated. This paper analyzes the advantages of the proposed solution and the possibilities of its realization.
Design of an economical SCARA robot for industrial applications
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014
This paper presents mechanical design process of an industrial and economical SCARA robot, called FUM SCARA, designed by a team of students at the Ferdowsi University of Mashhad, in Iran. SCARA robots are among the most widely used robots in industry due to their inherent rigidity and high accuracy. The design process included, joint design, link design, controller design as well as selection of mechanical and electrical components. The challenge was to use readily available components in Iran with an eye on keeping the costs down. The FUM SCARA robot offers impressive performance such as ~±0.01 mm repeatability, maximum linear velocity of 8.5 m/s in xy plane, 0.5 seconds pick and place cycle time and a flexible control system. These specifications are in line with existing industrial robots. However, unlike the existing commercial robots, the control architecture in FUM SCARA is designed to allow for simple implementation of new control algorithms. Finally, using a PID controller, a critical trajectory in robot's workspace is traced. Results indicate low error during the fast trajectory.