Simulation, Analysis, and Performance Evaluation of a Three-degree-of-freedom SCARA Robot for Industrial Assembly Applications
محورهای موضوعی : Manufacturing process monitoring and control
Amirhossein Badami
1
,
Mohamad Shahgholi
2
1 - Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
2 - Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
کلید واژه: Scara Robot, Torque, Denavit Hartenberg Parameters, Simulink,
چکیده مقاله :
The prevalence of robots in contemporary society is steadily increasing, significantly impacting various aspects of daily life and industry. Robots have become crucial components in flexible manufacturing systems due to their adaptability and efficiency in performing repetitive tasks. Human-robot collaboration has garnered widespread interest and is being extensively applied across both domestic and industrial sectors, with robots serving as reliable partners to enhance productivity and safety. Among these robotic systems, the SCARA robot is particularly valued for its high-speed and precision performance, especially in assembly lines. This paper provides a comprehensive analysis and simulation of SCARA robots with two and three degrees of freedom tailored for production line applications. Initially, the Denavit-Hartenberg (D-H) parameters are identified to structure the robot’s configuration, followed by the derivation of its forward kinematic equations. Furthermore, the dynamic equations of the robot are formulated based on these mathematical models to understand its movement and response. Ultimately, the performance of the SCARA robot is analyzed and simulated using MATLAB software in the Simulink environment.
The prevalence of robots in contemporary society is steadily increasing, significantly impacting various aspects of daily life and industry. Robots have become crucial components in flexible manufacturing systems due to their adaptability and efficiency in performing repetitive tasks. Human-robot collaboration has garnered widespread interest and is being extensively applied across both domestic and industrial sectors, with robots serving as reliable partners to enhance productivity and safety. Among these robotic systems, the SCARA robot is particularly valued for its high-speed and precision performance, especially in assembly lines. This paper provides a comprehensive analysis and simulation of SCARA robots with two and three degrees of freedom tailored for production line applications. Initially, the Denavit-Hartenberg (D-H) parameters are identified to structure the robot’s configuration, followed by the derivation of its forward kinematic equations. Furthermore, the dynamic equations of the robot are formulated based on these mathematical models to understand its movement and response. Ultimately, the performance of the SCARA robot is analyzed and simulated using MATLAB software in the Simulink environment.
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