SCARA ROBOT LINKS LENGTH OPTIMIZATION BY USING MATLAB AND VERIFICATION WITH SIMMECHANICS AND SOLIDWORKS

  • Mustafa Mashali
  • Miftah Addeif
  • Mohamed Embarak
Keywords: Solidworks Motion Study, MATLAB/SimMechanics, SCARA Robot, Link length optimization.

Abstract

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.

Downloads

Download data is not yet available.

References

M. Shariatee, A. Akbarzadeh, A. Mousavi, and S. Alimardani, "Design of an economical SCARA robot for industrial applications," Second RSI/ISM International Conference on Robotics and Mechatronics, 2014, pp. 534-539.

S. Y. Nof, Handbook of industrial robotics: John Wiley & Sons, 1999.

J. Fang and W. Li, "Four degrees of freedom SCARA robot kinematics modeling and simulation analysis," International Journal of Computer, Consumer and Control, Vol. 2, 2013, pp. 20-27.

M. S. Alshamasin, F. Ionescu, and R. T. Al-Kasasbeh, "Kinematic modeling and simulation of a scara robot by using solid dynamics and verification by matlab/simulink," European Journal of Scientific Research, Vol. 37, 2009, pp. 388-405.

V. Avchat, R. Kale, J. Kodam, and R. Kokate, "Design and analysis of 3-axis scara robot to sustain 60 nm torque by nutrunner," International Research Journal of Engineering and Technology, Vol. 6, No. 3, 2019, pp. 4832-4838.

T. E. Elaikh, H. J. Abed, K. M. Abed, and S. M. Swadi, "Vibration and kinematic analysis of scara robot structure," Diyala Journal of Engineering Sciences, Vol. 6, 2013, pp. 127-143.

S. M. Mariappan and A. Veerabathiran, "Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics," Revista Facultad de Ingeniería Universidad de Antioquia, 2016, pp. 63-72.

B. Fernini, "."

M. Gouasmi, M. Ouali, B. Fernini, and M. h. Meghatria, "Kinematic modelling and simulation of a 2-R robot using solidworks and verification by MATLAB/Simulink," International Journal of Advanced Robotic Systems, Vol. 9, 2012, pp. 245-257.

P. Subhashini and K. Chinmayi, "Parametric Optimization of Link Lengths of A SCARA Robot for Deburring Of Rectangular Paths," Materials Today: Proceedings, Vol. 5, 2018, pp. 11498-11506.

P. Subhashini, N. Raju, and G. V. Rao, "Parametric optimization of link lengths of a SCARA robot for deburring of circular paths," in CAD/CAM, Robotics and Factories of the Future, ed: Springer, 2016, pp. 127-135.

J. Craig, "Introduction to Robotics: Mechanics and Control", Pearson/Prentice Hall, 2018.
Published
2020-12-30
How to Cite
Mustafa Mashali, Miftah Addeif, & Mohamed Embarak. (2020). SCARA ROBOT LINKS LENGTH OPTIMIZATION BY USING MATLAB AND VERIFICATION WITH SIMMECHANICS AND SOLIDWORKS. INTERNATIONAL JOURNAL OF ADVANCES IN SIGNAL AND IMAGE SCIENCES, 6(2), 8-19. https://doi.org/10.29284/ijasis.6.2.2020.8-19
Section
Articles