Abstract
The Selective Compliance Articulated Robot Arm (SCARA) is widely used for picking and placing and assembly tasks in mechanical and electronics manufacturing industries. SCARA manipulators are less dexterous than other manipulators, but their speed and precision are exceptional. This research work deals with the development of SCARA to be used in different manufacturing processes. The goal of this research is to design a budget-friendly SCARA manipulator, which can be used in various manufacturing processes like welding, drilling, 3D printing and electrical discharge machining (EDM). The computer-aided design (CAD) approach is used to design and virtually simulate the manipulator. Structural analysis on the link of the manipulator is carried out before developing the working model. Stepper motors and Arduino are used to control SCARA. Inverse kinematics has been used to determine the required angle of the links. The cost of the robotic manipulator is prime focus throughout the process of making it, to ensure great quality robot at affordable price for automating small-scale work. The arm is designed specifically that various attachments can be attached as an end effector to the arm, depending on the requirement. The constructed SCARA is able to navigate to a single point and continuously navigate between two points with high accuracy and precision.
Published Version
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