Advantages of second joint's different concept designs are compared in table IV. in a form of simple inequalities including some well-known bounds extracted from robot dynamics. Because of this principle, in all designs of 2 nd joint a custom coupling is used in order to prevent effects of bending moments on gearbox shaft. It is designed to mimic the action of a human arm and can be used in jobs from automobile factories to underwater construction. The differential screw mechanisms are divided into two types; The coaxial serial-type differential screw mechanism in which one of the end of each non-driven mechanical element is directory connected to each other, and the parallel-type in which the non-driven mechanical element is connected via mechanical pairs. Performance of FUM SCARA in test, ... Generally, variety kinds of robot controller give wide range of performances for robot motion. A special test, trajectory, in which the robot reaches its maximum speed, was, reach speeds as high as 8.5 m/sec, with repeatability of, using a conventional PID controller and the test trajectory, were compared with simulations. In these robots, the length of the proximal links is different from the length of the distal links. The control law has a PD term plus an integral term with a nonlinear function of the position error. Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. 8 demonstrates the accuracy of, robot’s position and speed as when compared with a des. The correctness and effectiveness of the kinematic solutions was shown by the simulation of the double scara robot. carried using several controllers so far are discussed to mention the appropriateness of the technology based on the The automated lens pick and place robot is way better compare to humans since it is capable of reducing cycle time to complete the process by picking 7 lenses simultaneously. Fig. The Lyapunov method and the LaSalle invariance principle allow assessing asymptotic closed loop stability. Stress analysis using finite element analysis is carried out before a prototype is developed. Then, in third phase which is the product generation, the chosen design of the SCARA robot is fine-tuned. Comparably, higher error enhancement has been obtained using the FLC type-2 PID impedance controller of a 95.574% and 38.887% with the same axes. performance even in the presence of large unmodelled parameter uncertainties. SCARA Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm – Commonly used in assembly applications, this selectively compliant arm for robotic assembly is primarily cylindrical in design. This tool is frequently utilized because of its speed, efficiency and low cost. Results indicate low error during the fast trajectory. In the joint design process, additional, details were considered such as assemblability, machinabilit. A design example is included to demonstrate the proposed design optimization method. This design made the overall, design more complicated and of course less expensive. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. ABSTRAK In general, Conventional serial robot used for micro assembly has a large workspace with respect to their size, but repeatability is very low. Actuators used in this projects are stepper motors due to their high precision in calculating steps to move by the overall system. On the other hand, attaining fast convergence by increasing the learning rate could cause oscillation in the control response, which results in system instability.

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