Abstract

Robot arms have been developed for decades, and they essentially facilitate the growth of modern manufacturing automation. Recently, with the rapid development in electronics and communications, building a robot arm from scratch becomes feasible for undergraduate students. However, the associated kinematic dynamics, and control are usually more challenging. This article mainly focuses on studying the inverse kinematics of a self-built 3-DOF SCARA robot manipulator served as the test bed for designing robot arms in the future. Utilizing a series of kinematic equations, we are able to describe the relation between the end effector and each joint angle analytically. Consequently, it is reasonable to simulate the trajectory of the end effector in MATLAB, making it possible to analyze the path planning. In parallel, the SCARA robot arm is also realized by hiring aluminum structural elements and three servo motors and using an Arduino board to communicate with the LabVIEW interface in host computer for realizing manipulation and control of the SCARA mechanism. Meanwhile, Wiimote and IR-LEDs are also integrated to serve as external position sensors for monitoring the configuration of the mechanism. Finally, kinematical analyses are validated by that test article using several simple trajectories. Keywords : robot arms, inverse kinematics, SCARA, Wiimote

Highlights

  • Industry 4.0 [1], which is a name for the current trend of automation and data exchange in manufacturing technologies, is believed to bring the generation of industrial revolution

  • The study of a Selective Compliance Assembly Robot Arm (SCARA) system could be simplified to a 2-D kinematic model and what matters is the relation between the position and orientation of the end effector and the joint angles

  • We mainly focus on the kinematic analysis and trajectory simulation of the SCARA mechanism

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Summary

Introduction

Industry 4.0 [1], which is a name for the current trend of automation and data exchange in manufacturing technologies, is believed to bring the generation of industrial revolution. In a manufacturing process, achieving high quality and efficiency with low cost is always the main purpose. This goal could not be accomplished without extensively using robot arms for realizing automation. The study of a SCARA system could be simplified to a 2-D kinematic model and what matters is the relation between the position and orientation of the end effector and the joint angles. As a result, this makes it convenient by using a SCARA robot as a basis for studying robot kinematics and control

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