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Design and development of A 4-dof SCARA robot for educational purposes

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dc.citedby7
dc.contributor.authorMohamed Sahari K.S.en_US
dc.contributor.authorWeng K.H.en_US
dc.contributor.authorHan Y.W.en_US
dc.contributor.authorAnuar A.en_US
dc.contributor.authorBaharuddin M.Z.en_US
dc.contributor.authorMohideen S.S.K.en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid55581926200en_US
dc.contributor.authorid55583640700en_US
dc.contributor.authorid13609166500en_US
dc.contributor.authorid35329255600en_US
dc.contributor.authorid55701570700en_US
dc.date.accessioned2023-12-28T07:05:40Z
dc.date.available2023-12-28T07:05:40Z
dc.date.issued2011
dc.description.abstractRobotics have become a common course in a lot of higher institutions. Although there are many robots available in the market, most of them are for industrial purposes and are costly. There is a need to develop low cost robots for students in higher institutions to learn the elements of robotics such as design, kinematics, dynamics, sensing and control. The aim of this project is to design and develop a mechanical structure of a SCARA robot that can perform certain tasks for educational, research and exhibition purposes such as pick and place operation. The paper discusses the steps used in design and development of a 4 degree of freedom (DOF) SCARA robot which includes specification definition, conceptual design, product development, and testing. In specification definition phase, the specifications of the SCARA robot are first determined. After that, the best conceptual design of the SCARA robot is chosen after making concept evaluation in the conceptual design phase. Then, in third phase which is the product generation, the chosen design of the SCARA robot is fine-tuned. Stress analysis using finite element analysis is carried out before a prototype is developed. The direct and inverse kinematics, dynamics of the robot are then modeled. Off shelf parts are also selected based on the derived parameters from calculations. Electronic parts such as sensors and dedicated controller using low cost microcontroller are then developed. Finally, the developed SCARA robot is tested to see whether it fits the targeted specifications. � Universiti Teknologi Malaysia.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.11113/jt.v54.810
dc.identifier.epage215
dc.identifier.scopus2-s2.0-82555175859
dc.identifier.spage193
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-82555175859&doi=10.11113%2fjt.v54.810&partnerID=40&md5=68bfbf2b26e9c08f895ee842cc9c17d3
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29567
dc.identifier.volume54
dc.pagecount22
dc.publisherPenerbit UTM Pressen_US
dc.relation.ispartofAll Open Access; Bronze Open Access
dc.sourceScopus
dc.sourcetitleJurnal Teknologi (Sciences and Engineering)
dc.subjectEducational robotics
dc.subjectKinematics and dynamics
dc.subjectMicrocontroller
dc.subjectRRPR
dc.subjectSCARA robot
dc.titleDesign and development of A 4-dof SCARA robot for educational purposesen_US
dc.typeArticleen_US
dspace.entity.typePublication
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