DESIGN AND MANUFACTURING OF 4-DOF RPRR SCARA ROBOT INTEGRATED IDENTIFICATION OF SINGULAR CONFIGURATION

Abstract

Nowadays, SCARA robots (Selective Compliance Assembly Robot Arm) are widely used in the mechanical and electronic assembly field to enhance production efficiency and product quality. However, there are two significant issues when applying robotic arms in practice: high robot costs and the possibility of the robot falling into singular configurations during operation, significantly affecting its performance. This article presents the design and fabrication process of a four-degree-of-freedom SCARA robot arm with a Revolute-Prismatic-Revolute-Revolute (RPRR) configuration using modeling and simulation methods in SolidWorks and Matlab/Simulink software. SolidWorks software supports the design process by enabling 3D modeling, creating assembly constraints, and testing the design. Matlab/Simulink software aids in simulation, workspace analysis, and identifying singular points to eliminate unusual robot configurations. In terms of fabrication, the SCARA robot is manufactured using 3D printing to optimize costs. As a result, the fabricated robot is cost-effective, operates according to design specifications, and eliminates singular configurations.