Modeling, Simulation and Development of a 3 DOF SCARA Type Robot for Food Serving Purpose

Abstract

The robot is a mechatronics system which includes mechanical design, electronics components and various control approaches. It works tirelessly and repeats the sequence of operations once they have been programmed to do so. In the present work, design and development of 3 DOF Selectively Compliant Articulated Robot Arm (SCARA) manipulator has been planned. This SCARA manipulator can perform various pick and place task such as food serving. This manipulator has been modeled using SolidWorks software and dimensions of all linkages have been determined through principals of mechanical design. Kinematics analysis and simulation of proposed mechanism is carried out in MATLAB and RoboAnalyzer. The control system is based on the control board Arduino Mega 2560 and the joints are actuated through motorized control for the pick and place operations of the food packets. The required motions for serving purpose has been achieved in actual manipulator as planned in simulated model