Abstract
The planar robot is very suitable for moving workpieces which are in high demand in industrial automation. This paper develops a 4 degree of freedom (4-DOF) selective compliance assembly robot arm (SCARA) robot with three rotary joints and one prismatic joint (3R1P) to realize pick-and-place tasks of the circular and rectangular workpieces. The structure of the robot is firstly presented. The kinematic model is then built, and the kinematic analysis is performed based on MATLAB. The trajectory planning is further implemented. A control interface is also designed via Visual C++ to control the robot for achieving pick-and-place tasks. The validity of the developed robot is finally verified through experimental results.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
