Scribd
Upload
160 views

Project

This document describes the design and development of a Selective Compliance Assembly Robotic Arm (SCARA) robot. It discusses the origins of SCARA robots, the goals and motivation for this project, a literature review of SCARA robots, the mechanical and electrical components used, potential applications, and limitations. The conclusion restates that the goal was to create an affordable robotic system to automate industrial tasks commonly performed by human workers.

Uploaded by

MUHAMMAD RASHID
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
160 views

Project

This document describes the design and development of a Selective Compliance Assembly Robotic Arm (SCARA) robot. It discusses the origins of SCARA robots, the goals and motivation for this project, a literature review of SCARA robots, the mechanical and electrical components used, potential applications, and limitations. The conclusion restates that the goal was to create an affordable robotic system to automate industrial tasks commonly performed by human workers.

Uploaded by

MUHAMMAD RASHID
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 10

Selective Compliance Assembly Robotic Arm

Group Members:
Muhammad Rashid(25179)
Gobind ram (25186)
Mahesh (25189)
Introduction

The original SCARA robot was invented in Japan in 1981 by Sankyo Seiki, Pentel and
NEC. Wikipedia credits “Hiroshi Makino, a professor at the University of Yamanashi” as
the leading light in their development. This robot was stationary in the Z axis but could
move in both the X and Y axis. This was the catalyst for major innovations in the world
of robotics and also eventually in inspiring this SCARA project. Controlling heavy
objects properly is a common task in many industries in Bangladesh. Every year many
industries are upgrading their control system for this grand purpose. Most of them depend
on their foreign engineers to automize their controlling system. As a result, they have to
add extra expenses to their account. With a view to eliminating this kind of expenses and
accomplishing the tasks more efficiently our project was conceived. We aimed at
introducing a solution which was simple, efficient and cost effective. Keeping in mind of
the economic condition and technological lacking, we designed it with parts which are
easily replaceable and available
Literature Review
The word SCARA stands for Selective Compliance Assembly
Robotic Arm. The main feature of this type of robot is that it
can move within an X-Y-Z coordinate. Generally, SCARA
Robots
perform the last act in an assembly process where the last step
in the process is a single vertical move. For this reason, SCARA
Robots are mostly credited for “vertical assembly”. These
robots are highly efficient as industrial manipulator. It
demonstrates high speed, high flexibility, high rigidity. It can
perform any selective task repetitively with higher accuracy.
Fields where machine tending, part transfer, dispensing,
material handling, material removal are required SCARA
performs excellently.
Working

The SCARA robot is a manipulator with four degrees of freedom. This type of robot has been
developed to improve the speed and repeatability ON PICK&PLACE TASKS from one location
to another or to speed and improve the steps involved in assembly. This is why it is often used
with Flexibly Moreover these robots are used in the automotive field, as well as electronic, and
other industrial fields where manufacturers needs to feed bulk components of all sizes; in these
areas Flexible is performing so good that is replacing others parts feeders.
SCARA kinematics makes this robot particularly suitable to perform assembly tasks with tight
tolerances, such as putting a shaft into a hole, thanks to the capability to adjust the movement on
the horizontal plane, while at the same time maintaining high rigidity on the vertical direction.
The mechanics of the SCARA arm is generally quite strong and can withstand without problems
unexpected stress and collisions. In a SCARA robot junctions of the shoulder and elbow are
vertical and the wrist moves vertically. This configuration minimizes the effects of gravity on
the robot by downloading them to the ground and allowing the use of this machine in cases of
strong pressures as in vertical perforations.
Mechanical Components
Mechanical part of the project was made in such a way
that it may not be too heavy. Easier rotation of the
robotic arm can be ensured if it is lighter. So when it
came to choose the right material for this robotic arm
we preferred aluminum frame due to its strength as well
as its light weight. For the base we used Wood and
Stainless Steel cylinder so that it can sustain the total
load of the arms. The total structure of our project can
be divided into the following components.
• Wooden base
• Stainless Steel
• Hollow cylinder
• Aluminum Solid Shaft
• Aluminum Structural member
• Pulley
• Warm gear
• Rack and pinion
Electrical Components
The electrical components used in these projects are
• DC Geared Motor(30 rpm)
• DC Geared Motor(100rpm)
• AT mega16
• HC_SR04 Sonar (Ultrasonic Sound Transmitter & Receiver)
• L298 Breakout Board
• 16*12 LCD Display
• USB ASP Burner
• 7805 IC
• Resistor
• Bread board
• Capacitor
• Potentiometer
• Step Down Transformer(220V-12,24V)
• Bridge Rectifier
• USB to Serial Converter
Applications
• This project is mainly developed for industrial application
where higher accuracy repetitive job is required.
• Proper implementation of our project in industries can
replace the need of manpower thus save time and money.
• By attaching a gripper as an end effector it can be used in
shops, storages and mills to pick and place objects.
• It can be used for manufacturing everything from bulky
automobiles to minuscule electronic items.
• It can be used for distribution and assembly job.
• It can be programmed to handle very precise installation
work or carrying items from one location to another within
its range of motion.
Limitations
• In Belt-Pulley system, due to belt elasticity we cannot get
desired output for a specific input (e.g. position, torque,
angular rotation etc.).
• We get our feedback or arm position by variable
potentiometer which can rotate from zero to 294 degree for
equivalent ADC value from zero to 1023. Then we get
0.2871 degree.
• There is some sagging (bending) for the weight thus center
of gravity is shifted.
• We used sonar sensor that transmits Ultrasonic sound which
is reflected by the object, receives it & measure the distance.
This is not a very accurate method for distance measurement.
• We used Rack-pinion system. But it is a slow return process.
• There is some calculation error to find the value of angle.
Conclusion

In today's modern life, technology has contributed in people's


lives in many ways. Especially robotic systems with artificial
intelligence can perform many industrial duties and getting to
be increasingly important for some people. Our goal is to create
practical, useful robots that help people live more
independently, have simpler lives, have robots take on many of
the dull, dirty or dangerous tasks in our lives. So, absolutely, I
think it's a great positive thing, and I think that as you think
about our aging demographic, figuring out how to enable them
to live independently longer, as opposed to centralizing in
nursing homes, incredibly important as well.

You might also like