Modelling, Simulation and Kinematic Analysis of a Modified SCARA Manipulator (RRRRP)

摘要

A traditional Selective Compliance Assembly/Articulated Robot Arm (SCARA) is a 4-DOF(RRRP) manipulator, used generally for pick and place applications where all joints are parallel to each other. In this research, a modified SCARA robot used for drilling in the horizontal as well as vertical direction has been proposed. The novelty involved in this proposed robot is that it has 5 DOF, with 4 orthogonal rotational joints and one linear joint which also acts as the end effector, enabling it to perform drilling tasks in various orientations and positions. This added flexibility makes it suitable for a wider range of applications in industries such as manufacturing and construction. The orthogonal rotational joints provide a wider work envelope to the robot. The robot is modelled and simulated through CAD packages. The rigid body analysis to determine and simulate the real-time motion of the manipulator. The kinematic analysis is done with the help of mathematical programming.