SCARA Robot Kinematics And Simulation

Low, Ting Sheng (2018) SCARA Robot Kinematics And Simulation. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The aim of this project is to get the inverse kinematic, linear interpolation and circular interpolation solutions (both left-hand and right-hand configuration) for SCARA robot. The solutions are then coded in Arduino microcontroller for industries applications. To complete the project, first, a 1:1 model of SCARA robot was created in Solidworks for the inverse kinematics and robot motion range verification purpose. Next, mathematical solutions for inverse kinematics, linear and circular interpolation for both left-hand and right-hand configuration were investigated and verified in both CAD drawings (graphically) which is Solidworks and MATLAB (mathematical results). All the verified mathematical solutions were then coded in Arduino microcontroller. The results of the solutions in Arduino were then verified again with the mathematical solutions calculated in MATLAB. The outcomes of this project were first coding feasible mathematical solutions for SCARA robot inverse kinematics, linear and circular interpolations were found and verified in both left-hand and right-hand configuration. Next, the solutions were coded in Arduino microcontroller. The Arduino microcontroller was then able run the codes to generate the results of the mathematical solutions for SCARA robot servo motor control purpose. The major limitation of this project was the mathematical solutions were focused on the X and Y axis of the SCARA Robot without consideration of the Z-axis (to vertically move the end-effector up and down) and R-axis (to rotate the end-effector about Z-axis) of the robot. Future development for this project can consider in include the mathematical solutions for Z and R axes. The contribution of this project was the results verified codes of the mathematical solutions for the SCARA robot in Arduino can contribute to local machine making industries in industrial robot building.