Title: Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink

Authors: Mahdi Salman Alshamasin; Florin Ionescu; Riad Taha Al-Kasasbeh

Addresses: Department of Mechatronics, Faculty of Engineering Technology, Albalqa' Applied University, P.O. Box 15008, Amman 11134, Jordan. ' Steinbeis Transfer Institute Dynamic Systems, Steinbeis University Berlin, SHB, Theodor-Heuss-Str. 1, D-78467 Konstanz, Germany. ' Department of Electrical Engineering, Faculty of Engineering Technology, Albalqa' Applied University, P.O. Box 541324, Amman 11937, Jordan

Abstract: A complete mathematical model of SCARA robot was developed and presented in this paper including servomotor dynamics and dynamics simulation. The equations of motion were derived by using Lagrangian mechanics. Direct current (DC) servomotor driving each robot joint was studied and modelled. SCARA robot was constructed to achieve drilling operation using solid dynamics (SD) software. The performance of the robot-actuator system was examined with solid dynamic simulation and verified with MATLAB/Simulink. The results of simulations were discussed. The facilities of the programmes (investigate, design, visualise, and test an object even if it does not exists) used for kinematic and dynamic simulation of robot systems were emphasised.

Keywords: SCARA robots; robot kinematics; robot dynamics; DC servomotors; solid dynamics; simulation; mathematical modelling; robot modelling; robot motion.

DOI: 10.1504/IJMIC.2012.043938

International Journal of Modelling, Identification and Control, 2012 Vol.15 No.1, pp.28 - 38

Published online: 29 Nov 2014 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article