Papers by Keyword: SCARA Robot

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Authors: Ning Ning Gao, Dong Qing Wang, Ming Wei Ding, Peng Xiu Yao, Lu Yi Fan
Abstract: Based on STM32F407ZET6 microprocessor with ARM Cortex-M4 core, we designed a controller for servo motors and servo drivers of a 4-axis Selective Compliance Assembly Robot Arm (SCARA) robot. The forward and inverse kinematic equations are established, circular interpolation equations in three-dimensional space are derived by using the digital differential analyzer method. The adopted circular interpolation algorithm avoids to judge quadrant and feeding direction, which simplifies the program.
Authors: Chin Horng Yau, Wen Ren Jong, H.H. Wang
Abstract: The design criteria and dynamic analysis of SCARA substrate transfer robot for cluster tools have been investigated in this paper. The design criteria for SCARA robot to meet the application of semiconductor and flat panel display processing have been verified. The dynamic equations of decomposed modules of SCARA substrate transfer robot, such as arm module, friction module, servomotor module, harmonic drive module and belt module are formulated by Lagrange’s method respectively. Then, the dynamic equations are all built and simulated with MATLAB software. In addition, the elasticity characteristics of belt and harmonic drive are further discussed in this paper. In the aspect of control, the PID controller and force control method are both used to suppress the vibration and improve the transient response.
Authors: Jiang Tian Shi, De Xin Sun, Hong Zhuang Zhang
Abstract: Mechanical structure of three degree of freedoms SCARA robot adopts horizontal joints, and opening PMAC multitude axis motion controller based PC is looked as kernel of control system, adopts the open hardware and software structure, we can conveniently enlarge its functions according to needs, so it has very good expansibility. Its three-dimensional solid model and virtual assemble is carried out using CATIA application, so that we can estimate the status of interference. Through validation, we can prove the feasibility of the robot.
Authors: Mohamed Laid Hadjili, Kamel Kara, Oussama Ait Sahed, Jamal Bouyanzar
Abstract: In this work a fuzzy model-based predictive control (FMPC) method that uses modified particle swarm optimization (PSO) is presented. The main objective of this work is the application of this method to the control of a Selective Compliant Assembly Robot Arm (SCARA) with four degrees of freedom (4-DOF).
Authors: Liang Zhao, Meng Su, Yun Chen Miao
Abstract: Error sources which influence the end-executor’s accuracy are summarized. Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. After the error parameters which influence the static error of Selective Compliance Assembly Robot Arm (SCARA) robot are expressed by two-dimensional discrete variable, error space of the end-executor’s track of robot are made. Position error which influenced by the error sources are analysed by comparision of difference. Total accuracy can be improved through controlling the error direction of the static error to counteract the dynamic error's influence. The error model provides an effective theoretical support for the design of industrial robots with different accuracy requirements.
Authors: Pouya Jamali, Kourosh H. Shirazi
Abstract: In this paper, virtual prototype modeling, simulation and optimization of a 3 DOF SCARA robot as an example of robot manipulators, based on using software packages are presented. The softwares, Solidworks, Matlab and specially its module, Simmechanics, are used for robot modeling and thenMulti-Variable control process is performed with PID controller for controlling the robot. After modeling error RMS is defined as optimization objective function and the controller is optimized by Genetic algorithm. In this way, online kinematics solution in Simmechanics is introduced to avoid mathematical modeling of inverse kinematics problem. The strong point of this work is to facilitate modeling of complex mechatronical systems for engineers and virtual motion visualization of the mechanisms helps the engineers to have better understanding of systems behavior. Using exact numeric prototype of the robot in optimization problem, make it possible to use optimized controller for the actual robot.
Authors: Radu Tarca, Ovidiu Moldovan, Csokmai Lehel Szabolcs
Abstract: In this paper is presented a possible method for controlling a robot, in this particular case a SCARA robot by using a capacitive 3D hand positioning system. This system makes possible the control of and for virtual reality prototype with application in augmented reality systems.
Authors: Xin Wu, Hong Yin He, Gong Jin Lan, Jin Tian Tang
Abstract: To realize scara robot in industrial automation work environment identifying target objects independently, this paper puts forward a kind of machine vision solution based on opencv . First the k neighbor average filtering method and otsu is used to the initial image filtering and segmentation, and given a method based on pixel area, using the target object itself geometric characteristics and center of mass calibration to identify, locate purpose. The experimental results show that the system can achieve good object identification orientation effect in more complex industrial automation environment, so as to provide the necessary information for scara robot to grab target objects.This kind of robot vision system play an important role in industrial automation.
Authors: Guo Qing Ma, Zheng Lin Yu, Guo Hua Cao, Yan Bin Zheng, Li Liu
Abstract: Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.
Authors: Lucia Koukolová
Abstract: This paper describes the design of palletizing workplace on a modular basis which can be reconfigured. First part of the paper is devoted to the definition of reconfigurable manufacturing systems and its core characteristics. Second part of the paper describes the workplace for palletization on a modular basis, its parts and possibilities of reconfiguration.
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