Optimal Design and Simulation of SCARA Robot Arm

Abstract

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on <TEX>$1^{st}$</TEX> axis and <TEX>$2^{nd}$</TEX> axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of <TEX>$1^{st}$</TEX> axis and <TEX>$2^{nd}$</TEX> axis reduced to maximum 9.5% on a given path.