Kinematic Modelling and Simulation of 8 Degrees of Freedom SCARA Robot-Reference-Cited by-同舟云学术

Kinematic Modelling and Simulation of 8 Degrees of Freedom SCARA Robot

Published:2019 Issue: Volume: Page:77-97
ISSN:2328-8205
Container-title:Handbook of Research on Green Engineering Techniques for Modern Manufacturing
language:
Short-container-title:

Author:

M. Saravana Mohan¹,V. Anbumalar²

Affiliation:

1. Kumaraguru College of Technology, India

2. Velammal College of Engineering and Technology, India

Abstract

Robots are electromechanical systems that need mechatronic approach before manufacturing to reduce the development cost. In this chapter, the modelling of the 8 degrees of freedom (DOF) SCARA robot with a multiple gripper using SolidWorks CAD software and the dynamic study with the aid of MATLAB/SimMechanics is presented. The SCARA with multiple gripper is used for pick and place operation in manufacturing industries. The SolidWorks CAD model of SCARA with multiple grippers is converted into SimMechanics block diagram by exporting the 3D CAD model to the MATLAB/SimMechanics second generation technology environment. The motion sensing capability of the SimMechanics is used for determining the dynamic parameters of the manipulators. The SimMechanics block diagrams and the results of the dynamic study presented in this chapter infer that the structure of the robot can be changed to get the required dynamic parameters.

Publisher

IGI Global

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