A Study of Scara Robot Vibration Behavior by Computer Aided Engineer Program

Abstract

This research studies the movement behavior of the SCARA robot. The objective is to study the distance error that occurs along the X and Y axes at the end point where the SCARA robot arm moves. Due to changes in speed and acceleration, vibrations and positional discrepancies occur. This will be experimented by setting the speed and acceleration in the SCARA control program into several values. to see the trend of the axial error values that occur Using a sensor device to measure the distance of movement of both Scara arms and record the values as a period of time. From the 0th second at the origin to the last moment the scara arm travels to the end point. Then use the SolidWorks program to help simulate 3D images for use in finding the tip of the SCARA arm at various seconds in order to plot the results from the actual experiment. and compared with graphs obtained from mathematical modeling by the MSC Adams program, which obtained similar results. And from the analysis of the experimental results, it can be seen that If the acceleration is increased by keeping the speed constant The positional error is very small but the movement time is significantly reduced. and from similar results This makes it possible to predict the appropriate speed and acceleration to be used in the work. In order to achieve the least possible positioning error. or within the acceptable value according to the product's requirements Including the time resulting from this speed and acceleration can be used to calculate the UPH of the production process. Or adjust to get the best UPH by choosing the speed and acceleration that have the least effect on position error. In this research, the optimal speed was 10% of max. speed controller or 400 mm/s and the optimal acceleration was 0.1g or 0.981 mm/s2, with the percentage deviation of the values from the axial experiment x= 0.05%, y = 0.09%, and the percentage deviation of the values obtained from the MSC Adams program along the axis x= 0.13%, y = 0.51%.