Irjet V6i31240
Irjet V6i31240
Irjet V6i31240
---------------------------------------------------------------------***----------------------------------------------------------------------
Abstract – This paper focuses on design and analysis of 3- experimental model is used to analyze the location of motors,
Axis SCARA Manipulator to sustain 60 N-m Torque Tooling. length of links and its movements. The designing of robotic
Nowadays the use of robots on production lines has increased arm is done in creo software. The animation is done with
to reduce the production time and increase the productivity. various constraints in the software. This research study also
includes the manufacturing and assembly processes of robot.
As we go for more specialized robotic machining operations,
the cost of robot increases. The basic objective is to design low 2. Modeling, Simulation And Analysis of SCARA Robot for
cost and compact robotic arm which will handle Electric Deburring of circular components by PVS Subhashini, N.V.S
Nutrunner imposing 60 N-m torque during operation. The Raju and G. Venkata Rao.
SCARA robot can be used in various tooling applications like This research study describes the study of SCARA Robot for
screw driver, Nutrunner, riveting machines etc. The main deburring operation of circular profiles. The SCARA Robot
advantage is that the robot is designed to operate by Servo with four degrees of freedom is modeled in CAD Software.
motors so it is light weight as compared to hydraulic and The Kinematics of Robot is also explained in simplest way.
pneumatic actuation. The results of joint positions and joint velocities calculated
from CAD Software are compared with results obtained from
Key Words: SCARA ROBOT, KINEMATICS OF SCARA MATLAB. The mathematical modeling and its results in
ROBOT, INVERSE KINEMATICS, STRUCTURAL ANALYSIS. MATLAB is best explained through this paper.
3. Design and Fabrication of SCARA Robot with 5 Degrees of
1. INTRODUCTION Freedom by Banoth Bhadru, D. Narendar, B. Kiran.
The robotic arms used for assembly and production operations This paper deals with design and fabrication of SCARA Robot
of 5 degrees of Freedom which is driven by stepper motor
help to reduce errors and human effort with more production
and servo motor. The author has developed a new way to give
rate. The main feature of SCARA configuration is high speed,
motions in 5- Axis with the help of stepper and servo motors.
less maintenance, high repeatability and robust in design. Arm motion is achieved using servo motors while the inverse
SCARA ROBOTS are mostly used for pick and place operations kinematics algorithm is implemented by using stepper
but we have designed it for machining operations. SCARA motors for position control. Author has given details of
stands for Selective Compliance Assembly Robot Arm which fabrication of robot in this paper. The paper also describes
has 3-Dof with one linear motion and two rotational motions. the programming of robot with the help of microcontroller.
This case study is concern with design of SCARA Robot which is
servo motor driven. Configuration used for SCARA Robot is 4. Modelling and Analysis of Robotic Arm using Ansys by
PRR configuration. It is difficult to provide prismatic joint for Jeevan, Dr. Amar Nageshwar Rao.
tooling as tool is very heavy for linear motion in vertical This paper deals with study of different cross-sections of
direction .Hence ball screw is used to provide vertical motion. robotic arm and its analysis in ansys. The cross-sections
The desired height for operation can be achieved with the help considered are hollow square, Solid Square, hollow circular
of ball screw for nut running operation. The servo motor with and solid circular. All four different cross-sections are
reducer controls the linear and rotational motion of the robot. designed in CAD software. The results of stress and
Ball screw is used to achieve the linear motion. This paper also deformation are compared and conclusion is derived. The
describes the calculations of link lengths and forces on joints of deformation is less in hollow square link cross-section and
robotic arm. The structural analysis is performed on the links the stresses are less in hollow circular cross-section.
to validate and improve the design. 5. Kinematic Analysis of Various Robot Configurations by
Game R.U. , Davkhare A.A. , Pakhale S.S. , Ekhande S.B. , Shinde
2. LITERATURE REVIEW V.B.
This paper deals with study of forward and inverse
1. Design, Manufacturing and analysis of Robotic Arm with kinematics of robot manipulators. Various models such as 2R,
SCARA Configuration by Kaushik Phasale, Praveen Kumar, 3R, 3R-1P, 5R, 6R are used by author to study D-H
Akshay Raut, Ravi ranjan Singh, Amit Nichat. parameters of direct and inverse kinematics. The author used
This paper deals with design of 4-Axis SCARA Robot. The roboanalyzer and MATLAB software to obtain results of
analysis is also performed in Ansys. For experimental setup, inverse and direct kinematics. The author compared the
the robot with cardboard material is made by author. The results obtained from roboanalyzer and MATLAB along with
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4832
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
algebraic method. This research study concludes that inverse First of all the lengths of the links are optimized by drawing
kinematic analysis is complex and challenging as compared to a line diagram analytically and tracing it over the workspace
forward kinematics. Forward kinematic analysis of any robot for maximum and minimum distance coverage. The length of
configuration is easy to calculate joint angles along with links 2 and 3 should be such that tool covers every point on
positions. The study aims to analyze the results of inverse the work-piece.
kinematics in roboanalyzer, MATLAB and algebraic method.
3. PROBLEM STATEMENT By using this method the when second and third links are
fully outstretched, the total length of links can also be
To design 3-Dof SCARA Robot for workspace dimensions of calculated analytically using Pythagoras Theorem,
1200×500 mm. The objective is to design a robotic arm which i.e.: addition of lengths of 2 links outstretched
will sustain 60 N-m tooling torque at the end of gripper. (6002 +6002)1/2 = 848.5281 mm
ROUGH DESIGNING AND CALCULATION OF LINK Denavit and Hartenberg (DH) proposed a systematic
MODELING ON PAPER. LENGTHS, JOINT ANGLES notation for assigning right handed orthogonal frames, one
AND EXPECTED FORCES to each link in an open kinematic chain of links. Once the link
is attached coordinate frames are assigned, transformations
between adjacent coordinate frames that can be represented
by 4X4 homogeneous transformation matrix.Following is the
description of DH parameters of SCARA Robot:
ASSEMBLY AND STUDY ACTUAL DESIGNING OF
OF WORKING USING DIFFERENT PARTS USING
SOLIDEDGE SOLIDEDGE Arm Parameter Symbol Revolute Joint Prismatic joint
Link αi ai di θi
5. ANALYTICAL CALCULATIONS
1 0 l1 q1 0
5.1 WORKSPACE DEFINITION OF SCARA ROBOT
2 π l2 0 q2
The SCARA Robot is designed for 1200×500 mm
workspace dimension. The assumptions made are: SCARA 3 π l3 0 q3
Robot is placed between center of workspace and it is kept
away by 100 mm distance from the workspace. Table-2: DH Parameter Table for SCARA Robot
There are two types of Kinematics methods:
1. Forward Kinematics
2. Inverse Kinematics
500
600
Inverse Kinematics means using kinematics
equations of robot for determining the joint angles
1200 from known values of end effector positions. For
determining the joint angles consider the motion of
two links with revolute joint from given below
Fig-2: Predefined workspace for SCARA robot diagram.
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4833
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
Initially the position of link is assumed at (0,600) : lead, the ball screw of 5mm lead with 20 mm diameter is
(x, y). The joint angles at this position are: selected.
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4834
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
F=400N
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4835
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4836
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
The above results of analysis for vertical link shows that the
link is safe against the bending moments imposed due to
link2 and link3.
The following result table shows the results for each link
with maximum and minimum deformation and stresses.
11.2 Case 2
Fig-15: Deformation Analysis of full model
During this case, the robot motion is considered to reach to
The following result table shows the results for the robot
desired position. Servo motor is considered to drive the
with maximum and minimum deformation and stresses.
mechanism. Hence, while tracing the points of workspace
various radial forces and joint torques are considered. The
Von-Mises Stress(MPa) Deformation(mm)
analysis of full robot assembly is performed in ansys. The
results are obtained for deformation and equivalent stresses. Max Min Max Min
There are chances of buckling of ball screw while achieving 41.52 2.47×10-11 0.167 0
the desired position. Hence analysis is performed to improve
the design and optimize the material. Table4: Result Table for Case 2
The following figure shows analysis results for stresses on 11. CONCLUSION
full model.
Thus, from analysis results we can conclude that the
designed configuration of SCARA Robot for Nut tightening
and loosening application is perfect for manufacturing. The
motion study performed in solid edge shows that the robot
satisfies locus of all points present on the workspace. Results
obtained from analysis on Ansys software, we can conclude
that the links of the robotic arm can sustain the forces
imposed on it due to Nut running operation. The robot
designed is of PRR configuration which is a new
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4837
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
[1] KSM Sahari and Hong Weng Khor, “Design and RUSHABH KOKATE
Development of A 4-Dof SCARA Robot For Educational Student at P.E.S’s Modern College
Purposes ” , Article in Jurnal Teknologi- January 2011. Of Engineering, Pune.
[2] Aliriza Kaleli,Ahmet Dumlu, M. Fatih Corapsiz and Branch: Mechanical Engineering
Koksal Erenturk, “ Detailed Analysis of SCARA-Type
Serial Manipulator on a Moving Base with LabView,
Article in International Journal of Advanced Robotic
Systems- 19th Feb 2013
[3] Kurt E. Clothier and Ying Shang, “A Geometric Approach
for Robotic Arm Kinematics with Hardware Design,
Electrical Design, and Implementation,” Journal of
Robotics- 18th August 2010.
[4] Bernhard Mohl and Oskar Von Stryk, “Design and
Application of a 3 DOF Bionic Robot Arm,”-January 2005.
[5] Dr. Amar Nageshwar Rao, Jeevan ,“ Modelling and
Analysis of Robotic Arm using Ansys ”, International
Journal Of Scientific Engineering and Technology
Research, Vol.04,Issue.33, August-2015.
[6] Banoth Bhadru, D. Narendar, B. Kiran, “Design and
Fabrication of SCARA Robot with 5 Degrees of Freedom”,
International Journal of Scientific Research and
Development, Vol.3, Issue 03, 2015.
[7] Nagy M. Abu-Elella, Said M. Megahed, Mohamed E. Elarabi,
“ Force Analysis Of Robot Arms”- Jan 1996
[8] Claudio Urrea, Juan Cortes, Jose Pascal, “ Design,
Construction and Control of a SCARA manipulator with 6
degrees of freedom”, Journal of Applied Research and
Technology- 28 September 2016.
[9] Tarun Pratap Singh, Dr. p. Suresh, Dr. Swet Chandan, “
Forward and Inverse Kinematic Analysis of Robotic
Manipulators”, International Research Journal of
Engineering and Technology, Vol:04, Issue:02, Feb-2017
[10] John Faber Archilla Diaz, Max Suell Dutra, Claudia Johana
Diaz, “ Design and Construction of a Manipulator Type
SCARA Implementing a Control System”, International
Congress of Mechanical Engineering, November 2007.
BIOGRAPHIES
VARAD AVCHAT
Student at P.E.S’s Modern College
Of Engineering, Pune.
Branch: Mechanical Engineering
RASIKA KALE
Student at P.E.S’s Modern College
Of Engineering, Pune.
Branch: Mechanical Engineering
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4838