Placement analysis of rectangular components within the work volume using a SCARA robot

Abstract

Selective Compliance Articulated Robot Arm (SCARA) manipulator is a very common use for pick and place applications. At present scenario more research is aimed towards 3D printing, Deburring etc. The present work aims at presenting the best placement position of a rectangular workpiece within the workspace using a SCARA robot. Fabricated SCARA robot Kinematics are verified using videographic analysis compared with MATLAB analysis. A video is recorded for the motion of joint angles of a fabricated SCARA robot to trace the path of a square component. Using Corel software virtual protractors positioned in the video. In VLC player with Virtual protractors kinematics of SCARA robot are analyzed. Joint angles calculated from the videographic analysis are using as an input to the MATLAB. SCARA robot kinematic equations are accessible from the literature, and these mathematical equations are programmed in the MATLAB. Kinematics of SCARA robot is verified using videographic analysis and MATLAB. Further position placement analysis is carried out in the MATLAB and presented the best position of placing rectangular component.