Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink

摘要

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.