Parametric Optimization of Link Lengths of a SCARA Robot for Deburring of Circular Paths

Subhashini, P.V.S.; Raju, N. V. S.; Rao, G. Venkata

doi:10.1007/978-81-322-2740-3_14

Cited by 3 publications

(1 citation statement)

References 3 publications

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“…Different methods to find the optimal link lengths of SCARA robot while moving in a rectangular path to remove the edges of the rectangular pieces are implemented in [10][11]. He also addressed the topic of finding the optimal link lengths of the robot when using the circular path by setting different lengths and analyzing the energy used in each case.…”

Section: Carton Boxmentioning

confidence: 99%

Scara Robot Links Length Optimization by Using Matlab and Verification With Simmechanics and Solidworks

Mashali¹,

Addeif²,

Embarak³

2020

International Journal of Advances in Signal and Image Sciences

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This paper aims for optimizing links length that consumed the minimum energy, for a customized Selective Compliant Assembly Robot Arm (SCARA) robot. Nine link length combinations are tested and simulated. This research is a part of a project of designing a robotic arm for a packing task. Kinematic and dynamic studies are performed for a 2R robotic arm. The results of kinematic study which are angular displacement, angular velocity and angular acceleration for each joint are determined and exported to the dynamic study to obtain the torque and power consumed. The dynamic study is performed with the aid of MATLAB code, MATLAB/SimMechanics and Solidworks are used to simulate and analyze the dynamic of the robotic arm. The energy consumed for each link length combination using the three methods is calculated.

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Section: Carton Boxmentioning

confidence: 99%

Scara Robot Links Length Optimization by Using Matlab and Verification With Simmechanics and Solidworks

Mashali¹,

Addeif²,

Embarak³

2020

International Journal of Advances in Signal and Image Sciences

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A novel tool to optimize the performance of SCARA robots used in pick and place operations

2021

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Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

Mai

Cui

et al. 2019

IEEE Access

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In this paper, we propose a novel coordinated control method based on decoupling servo control to design a 4-DOF direct-drive SCARA robot for wafer handling purpose. As the basis of decoupling servo control, the dynamic model of the SCARA robot is obtained with two methods, the Newton-Euler equation, and Lagrangian equation. The validity of this SCARA dynamic equation is confirmed by these two methods. Due to disturbance and model uncertainty, three PD plus robust controllers are individually applied to three axes of the SCARA robot, together with decoupling control on three physically dynamically highly coupled robotic arms. The inverse dynamics of the SCARA robot is analyzed by feedback linearization, and the experimental results show that above PD plus robust controllers and decoupling control reduce the position tracking error effectively. Performance meets with the high speed and high precision requirements in the wafer handling process. The experimental data shows that the decoupling control algorithm makes the SCARA robot performance improved a lot. The position errors during dynamic tracking movement and the static errors are reduced by 4 to 20 times.

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Parametric Optimization of Link Lengths of a SCARA Robot for Deburring of Circular Paths

Cited by 3 publications

References 3 publications

Scara Robot Links Length Optimization by Using Matlab and Verification With Simmechanics and Solidworks

Scara Robot Links Length Optimization by Using Matlab and Verification With Simmechanics and Solidworks

A novel tool to optimize the performance of SCARA robots used in pick and place operations

Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

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