A new concept of the SCARA robot (original) (raw)
Related papers
Design and Applicability of a New Architecture of a Double Scara Robot
Fiabilitate şi Durabilitate, 2016
SCARA robot mechanisms can be divided into two categories namely : mechanisms consisting of open kinematic chains and mechanisms consisting of closed kinematic chains. The second category includes Double SCARA robot, which comprises a five bar mechanism. The paper will propose several variants of mechanisms for Double SCARA robots, modeled by CATIA software
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.
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
Development of A SCARA Robot with Extensible Arm
This study aims to develop robotic arm extension for SACARA type robots. Modeling and simulations have been done to understand the stress distribution on a robotic arm with extension to increase the accessibility of the robot. The mesh were generated by using commercially available SolidWorks software and static analysis of this program was utilized to conduct the numerical simulation module. The extension of the robot arm is designed in a modular joint construction so that the access distance can be increased or decreased according to need. The stress and displacement values of the robot arm and the effect of the fasteners when the access distance is increased are analyzed with Finite Element Methods. The necessary improvements were made according to the results obtained.
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.
2009
The traditional SCARA robot has the mechanical structure built by an open kinematical chain, articulated arm type, mounted in horizontal plane. Other than the classical solution that uses a serial structure, have appeared other solutions which are using close kinematic chains. So the double SCARA robot is using for the robot arm a five-bar closed linkage. In the paper we present the design of a double SCARA mechanism using CATIA V5 solution, where are modelled two types of five-bar mechanisms: general and degenerate, in which the distance between the joints from the frame is zero. In the second situation it is proposed a new acting solution of active joints, which is simplifying the construction of the system. This solution leads also to a simplified forward and inverse kinematics and also at a simplified control system.
An Experimental Workplace with Scara Robot
TECHNICAL SCIENCES AND TECHNOLOGIES, 2018
Urgency of the research. Interest in this subject is aroused because, in the available sources, this kinematic structure is the least documented, even though it is required in certain applications (fast assembly of small parts,...). Target setting. The main goal was to design a workplace with a Scara robot. This workplace is used by the student to verify their theoretical knowledge gained from lectures in practice. They can try programming the robot, but also work with the camera system. Actual scientific researches and issues analysis. In 1961, (USA) the first industrial robot Unimate was put into the industrial practise for General Motors for welding of vehicle body. Since this industrial robot deployment has gone on for many years and many changes have been made in the field of industrial robotics in terms of mechanical properties and industrial robot control systems, taking account the requirements of applications in technical practise. Uninvestigated parts of general matters de...
IOP conference series, 2019
The research presented in this paper is linked to parallel kinematics robots, their performances evaluation and analysis of their integration opportunity at industrial level. Along this research a double arm SCARA robot (including planar parallel kinematics of a 5 links / 2 DOF mechanism) was developed. The first stage of the project consisted of robot physical structure 3D modelling. The second stage of the project was oriented towards kinematic modelling of robot's mechanism. Next, in the third stage of the project the real robot was built, including the mechanical structure, the sensorial and electrical driving system for the planar mechanism, the pneumatic driving system for the vertical axis and the vacuum gripper. The fourth stage of the project consisted of configuring the robot controller so that it could be programmed and controlled through a PC. This implied the establishment of communication protocols between the robot's PLC and the PC, the development of the programming & control software interface for PC robot control. Using this interface, the robot was programmed to perform a pick-and-place application. In the final stage of the project the repeatability of the robot was measured in order to evaluate the accuracy characteristics of robot's parallel kinematic structure.