| Title: | OS8-6 Development of Four-axis SCARA Robotic Arm Built on Automation Control System |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 436-439 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS8-6 |
| Author(s): | Jr-Hung Guo, Kuang-Wei Chuang, Kuo-Lan Su |
| Publication Date: | February 2, 2018 |
| Keywords: | DFM, DFV, SCARA robot arm, DRL |
| Abstract: | The paper presents a integral design method to integrate "DFM" (Design for Manufacturing) and "DFV" (Design for Verification), and completes the production system from simulation to actual verification using the SCARA robot arm. In the aspect of kinematics of horizontal joint, the 2D model is established by mathematical derivation and the analysis of the robot arm characteristics using "Jacobian" kinematic, and integrates into the verification design. The electromechanical integration of the proposed system includes a SCARA robot arm, automatic control components, sensors; electrical elements, pneumatic circuit design and software programming for implement. Then user can lead the robotic arm to run the coordinates and movement path with proper accuracy, efficiency and reliability. The program language of the SCARA uses "DRL" (DELTA Robot Language) that is developed by DELTA Company. This research also proposes a design method using automatic palletizing simulate layout for the SCARA robot arm, and verifies the precious positioning of the SCARA robot arm. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS8/OS8-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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