Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink

Muhammad Majid Gulzar; Ali Faisal Murtaza; Qiang Ling; Muhammad Yaqoob Javed; Syed Tahir Hussain Rizvi; Raiz Ahmad Rana

doi:10.1109/ICOSST.2015.7396410

Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink

Muhammad Majid Gulzar, Ali Faisal Murtaza, Qiang Ling, Muhammad Yaqoob Javed, Syed Tahir Hussain Rizvi, Raiz Ahmad Rana

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.

Original language	English
Title of host publication	ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	102-107
Number of pages	6
ISBN (Electronic)	9781479978120
DOIs	https://doi.org/10.1109/ICOSST.2015.7396410
State	Published - 1 Feb 2016
Externally published	Yes
Event	9th International Conference on Open Source Systems and Technologies, ICOSST 2015 - Lahore, Pakistan Duration: 17 Dec 2015 → 19 Dec 2015

Publication series

Name	ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings

Conference

Conference	9th International Conference on Open Source Systems and Technologies, ICOSST 2015
Country/Territory	Pakistan
City	Lahore
Period	17/12/15 → 19/12/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Backlash
Center of Gravity
Inverse Kinematic Algorithm
Pro-E
SCARA
Vibration

ASJC Scopus subject areas

Software
Computer Science Applications
Signal Processing

Access to Document

10.1109/ICOSST.2015.7396410

Cite this

Gulzar, M. M., Murtaza, A. F., Ling, Q., Javed, M. Y., Rizvi, S. T. H., & Rana, R. A. (2016). Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink. In ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings (pp. 102-107). Article 7396410 (ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICOSST.2015.7396410

Gulzar, Muhammad Majid ; Murtaza, Ali Faisal ; Ling, Qiang et al. / Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink. ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 102-107 (ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings).

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abstract = "SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.",

keywords = "Backlash, Center of Gravity, Inverse Kinematic Algorithm, Pro-E, SCARA, Vibration",

author = "Gulzar, \{Muhammad Majid\} and Murtaza, \{Ali Faisal\} and Qiang Ling and Javed, \{Muhammad Yaqoob\} and Rizvi, \{Syed Tahir Hussain\} and Rana, \{Raiz Ahmad\}",

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Gulzar, MM, Murtaza, AF, Ling, Q, Javed, MY, Rizvi, STH & Rana, RA 2016, Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink. in ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings., 7396410, ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 102-107, 9th International Conference on Open Source Systems and Technologies, ICOSST 2015, Lahore, Pakistan, 17/12/15. https://doi.org/10.1109/ICOSST.2015.7396410

Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink. / Gulzar, Muhammad Majid; Murtaza, Ali Faisal; Ling, Qiang et al.
ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 102-107 7396410 (ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gulzar, Muhammad Majid

AU - Murtaza, Ali Faisal

AU - Ling, Qiang

AU - Javed, Muhammad Yaqoob

AU - Rizvi, Syed Tahir Hussain

AU - Rana, Raiz Ahmad

PY - 2016/2/1

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N2 - SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.

AB - SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.

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ER -

Gulzar MM, Murtaza AF, Ling Q, Javed MY, Rizvi STH, Rana RA. Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink. In ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 102-107. 7396410. (ICOSST 2015 - 2015 International Conference on Open Source Systems and Technologies, Proceedings). doi: 10.1109/ICOSST.2015.7396410

Kinematic modeling and simulation of an economical SCARA manipulator by Pro-E and verification using MATLAB/Simulink

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this