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SCARA: Selective Compliance Assembly Robotic Arm

Technical Report · April 2014

DOI: 10.13140/RG.2.2.36504.55044

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 SCARA: Selective Compliance Assembly Robotic Arm

SCARA
Selective Compliance Assembly Robotic Arm
Course no: ME 362
Instrumentation and Measurement Sessional
Group: B23
Date of Submission: 02.04.2014

Accomplished By:
Rizwana Akter (1010094)
Shah Saifur Rahman Sayem(1010102)
Fozle Alahi Khan (1010111)
Mohammad Asif Kabir (1010120)

DEPARTMENT OF MECHANICAL ENGINEERING

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 SCARA: Selective Compliance Assembly Robotic Arm

Copyright © 2014 by Rizwana Akter, Shah Saifur Rahman

Sayem, Fozle Alahi Khan, Mohammad Asif Kabir and
Bangladesh University of Engineering And Technology (BUET).
All Rights reserved. The content of this paper is a property of
authors and Bangladesh University of Engineering and
Technology (BUET). Any part of this document (electronic,
printed or photocopy) cannot be rebuilt or reproduced without the
permission of authors or Bangladesh University of Engineering
and Technology (BUET).

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 SCARA: Selective Compliance Assembly Robotic Arm

BANGLADESH UNIVERSITY OF
ENGINEERING & TECHNOLOGY (BUET)

Supervised By:

Aminul Islam Khan

Lecturer, Department of Mechanical Engineering

Kazi Arafat Rahman

Lecturer, Department of Mechanical Engineering

Shahreen Chowdhury
Lecturer, Department of Mechanical Engineering

K.M. Rafidh Hasan

Lecturer, Department of Mechanical Engineering

Adnan Morshed

Lecturer, Department of Mechanical Engineering

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Acknowledgement
We would like to express our deepest gratitude to Instrumentation & Measurement course teacher
DR. M.A. RASHID SARKAR .He continually and convincingly conveyed a spint of adventure
with regard to our project.

We want to express our appreciation to our project superviser KAZI ARAFAT RAHMAN and
K.M. RAFIDH HASAN, lecturer,Department of Mechanical Engineering,BUET for his
scholastic guidance,continuous inspiration,valuable suggestion and helpful comments for our
completion of our project.

Our sincere thanks to AMINUL ISLAM KHAN Lecturer, for their kind help.

**We are highly grateful to ADNAN MORSHED,lecturer,Department of Mechanical

Engineering,BUET for his guidance,suggestion in the days of project work.

We also convey our deepest gratitude to BUET Machine shop, Welding, Sheetmetal, Foundry &
Pattern Shop and Carpentry shop without their help,the project would never be possible. We would
also like to thank Mrs Shorabon Tahura,Senior instructor,machine shop for his cordial help.

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 SCARA: Selective Compliance Assembly Robotic Arm

Abstract
The word SCARA stands for Selective Compliance Assembly Robotic Arm. The main feature of
this type of robot is that it can move within an X-Y-Z coordinate. Generally, SCARA Robots
perform the last act in an assembly process where the last step in the process is a single vertical
move. For this reason, SCARA Robots are mostly credited for “vertical assembly”. These robots
are highly efficient as industrial manipulator. It demonstrates high speed, high flexibility, high
rigidity. It can perform any selective task repetitively with higher accuracy. Fields where machine
tending, part transfer, dispensing, material handling, material removal are required SCARA
performs excellently.

In our project we didn’t keep any end function. We only made our robot move within the X-Y-Z
coordinate. It can reach any position in a three dimensional Cartesian coordinate. Though it doesn’t
have any end function it can perform any task if suitable end effectors are attached to it.

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 SCARA: Selective Compliance Assembly Robotic Arm

Table of contents
Contents
Acknowledgement……………………………………………………………………………iv
Abstract……………………………………………………………………………………… v
Table of contents……………………………………………………………………………. vi
List of figures………………………………………………………………………………...viii
List of tables………………………………………………………………………………….viii.
Chapter 1 .................................................................................................................................. 1

INTRODUCTION.................................................................................................................... 1

Chapter 2 .................................................................................................................................. 2

PROJECT DESCRIPTION .................................................................................................... 2

2.1 Mechanical Parts ............................................................................................................................... 2

2.1.1 Mechanical Components ........................................................................................................... 3
2.2.1 The Electrical Components ....................................................................................................... 7
2.2.2 Electrical Circuit ...................................................................................................................... 10
Chapter 3 ................................................................................................................................ 11

APPLICATION...................................................................................................................... 11

Chapter 4 ................................................................................................................................ 12

LIMITATION ........................................................................................................................ 12

Chapter 5 ................................................................................................................................ 13

IMPROVEMENT .................................................................................................................. 13

Chapter 6 ................................................................................................................................ 14

CONCLUSION ...................................................................................................................... 14

REFERENCES ....................................................................................................................... 15

APPENDIX ............................................................................................................................. 16

Appendix A ............................................................................................................................................ 16

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Table 1: Cost Analysis .......................................................................................................................... 16

Appendix B ............................................................................................................................................ 17
Microcontroller Code ........................................................................................................................... 17

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List of figures
Name caption page

Fig 2.1.1.1a Bearing 4

Fig 2.1.1.1b Nut & Bolt 4

Fig 2.1.1.1c Screw 4

Fig 2.1.1.1d Rack & Pinion 5

Fig 2.1.1.1e Worm gear 5

Fig 2.1.1.2a Base & Hollow Cylinder 6

Fig 2.1.1.2b Solid Shaft 6

Fig 2.1.1.2c 1st link 7

Fig 2.1.1.2d 2nd link 7

Fig 2.1.1.2e 3rd link 7

Fig:2.2.1a AT Mega 16 9

Fig:2.2.1b L298 Breakout Board 9

Fig:2.2.1c Capacitor 9

Fig:2.2.1d Potentiometer 10

Fig:2.2.1e Resistor 10

Fig:2.2.1f DC Gear Motor 10

Fig:2.2.2 Electrical Circuit 11

List of Table
Number Name Page

Table:1 Cost Analysis 17

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Chapter 1

INTRODUCTION

The original SCARA robot was invented in Japan in 1981 by Sankyo Seiki, Pentel and NEC.
Wikipedia credits “Hiroshi Makino, a professor at the University of Yamanashi” as the leading
light in their development. This robot was stationary in the Z axis but could move in both the
X and Y axis. This was the catalyst for major innovations in the world of robotics and also
eventually in inspiring this SCARA project.

Controlling heavy objects properly is a common task in many industries in Bangladesh. Every
year many industries are upgrading their control system for this grand purpose. Most of them
depend on their foreign engineers to automize their controlling system. As a result, they have
to add extra expenses to their account.

With a view to eliminating this kind of expenses and accomplishing the tasks more efficiently
our project was conceived. We aimed at introducing a solution which was simple, efficient and
cost effective. Keeping in mind of the economic condition and technological lacking, we
designed it with parts which are easily replaceable and available.

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 SCARA: Selective Compliance Assembly Robotic Arm

Chapter 2

PROJECT DESCRIPTION

2.1 Mechanical Parts

Mechanical part of the project was made in such a way that it may not be too heavy. Easier
rotation of the robotic arm can be ensured if it is lighter. So when it came to choose the right
material for this robotic arm we preferred aluminium frame due to its strength as well as its
light weight. For the base we used Wood and Stainless Steel cylinder so that it can sustain the
total load of the arms.

The total structure of our project can be divided into the following components. These are

 Wooden base

 Stainless Steel Hollow cylinder

 Aluminum Solid Shaft

 Aluminum Structural member

 Pulley

 Warm gear

 Rack and pinion

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2.1.1 Mechanical Components

2.1.1.1 Ready Made Components

Pressure Bearing

Ball Bearing

Ball Bearing

Fig 2.1.1.1a: Bearing

Fig 2.1.1.1b: Nut & Bolt

Fig 2.1.1.1c: Screw

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 SCARA: Selective Compliance Assembly Robotic Arm

Rack

Pinion

Fig 2.1.1.1d: Rack & Pinion

Gear

Worm

Fig 2.1.1.1e: Worm Gear

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 SCARA: Selective Compliance Assembly Robotic Arm

2.1.1.2 Machined Components

Cylinder

Base

Fig 2.1.1.2a: Base & Hallow Cylinder

Solid
Shaft

Fig 2.1.1.2b: Solid Shaft

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 SCARA: Selective Compliance Assembly Robotic Arm

Fig 2.1.1.2c: 1st Link

Fig 2.1.1.2d: 2nd Link

Fig 2.1.1.2e: 3rd Link

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 SCARA: Selective Compliance Assembly Robotic Arm

2.2.1 The Electrical Components

The electrical components used in these projects are

 DC Geared Motor(30 rpm)

 DC Geared Motor(100rpm)

 AT mega16

 HC_SR04 Sonar (Ultrasonic Sound Transmitter & Receiver)

 L298 Breakout Board

 16*12 LCD Display

 USB ASP Burner

 7805 IC

 Resistor

 Bread board

 Capacitor

 Potentiometer

 Step Down Transformer(220V-12,24V)

 Bridge Rectifier

 USB to Serial Converter

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 SCARA: Selective Compliance Assembly Robotic Arm

Fig 2.2.1a: AT Mega16

Fig 2.2.1b: L298 Breakout Board

Fig 2.2.1c: Capacitor

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 SCARA: Selective Compliance Assembly Robotic Arm

Fig 2.2.1d: Potentiometer

Fig 2.2.1e: Resistor

Fig 2.2.1f: DC Gear Motor

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 SCARA: Selective Compliance Assembly Robotic Arm

2.2.2 Electrical Circuit

Fig 2.2.2: Electrical Circuit

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Chapter 3

APPLICATION

 This project is mainly developed for industrial application where higher accuracy
repetitive job is required.

 Proper implementation of our project in industries can replace the need of manpower
thus save time and money.

 By attaching a gripper as an end effector it can be used in shops, storages and mills to
pick and place objects.

 It can be used for manufacturing everything from bulky automobiles to minuscule

electronic items.

 It can be used for distribution and assembly job.

 It can be programmed to handle very precise installation work or carrying items from
one location to another within its range of motion.

 The ability to be controlled remotely makes it possible to work in a hazardous

environment.

 In the field of robotics, the SCARA is considered more affordable.

 It is faster and cleaner than comparable Cartesian robot systems.

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Chapter 4

LIMITATION

 In Belt-Pulley system, due to belt elasticity we cannot get desired output for a specific
input (e.g. position, torque, angular rotation etc.).
 We get our feedback or arm position by variable potentiometer which can rotate from
zero to 294 degree for equivalent ADC value from zero to 1023. Then we get 0.2871
degree.
 There is some sagging (bending) for the weight thus centre of gravity is shifted.
 We used sonar sensor that transmits Ultrasonic sound which is reflected by the object,
receives it & measure the distance. This is not a very accurate method for distance
measurement.
 We used Rack-pinion system. But it is a slow return process.
 There is some calculation error to find the value of angle.

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Chapter 5

IMPROVEMENT

 We can use gear or chain system instead of belt-pulley system.

 Optical or rotary encoder can be added instead of potentiometer.

 To reduce sagging we can use counter weight or we can distribute our load. We can add
a roller under our 3rd link so that in can move easily.

 To measure the length of z axis we can use tactile sensor.

 Without using Rack-pinion system, we can use high torque low rpm gear motor cause
this system is a quick return motion.

 We can modify our calculation to find the exact value of angle.

 At present this is a switch controlled SCARA arm. This can be handled more efficiently
when it is in automatic control.

 SCARA can have its joints waterproofed in order to function in underwater

construction.

 By introducing proper sensors SCARA can sort out the objects according to their color
or weight.

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Chapter 6

CONCLUSION

In today's modern life, technology has contributed in people's lives in many ways. Especially
robotic systems with artificial intelligence can perform many industrial duties and getting to be
increasingly important for some people.

Our goal is to create practical, useful robots that help people live more independently, have
simpler lives, have robots take on many of the dull, dirty or dangerous tasks in our lives. So,
absolutely, I think it's a great positive thing, and I think that as you think about our aging
demographic, figuring out how to enable them to live independently longer, as opposed to
centralizing in nursing homes, incredibly important as well.

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 SCARA: Selective Compliance Assembly Robotic Arm

REFERENCES

 Theory & Design for Mechanical Measurements, J Wiley & Sons,Inc By

Figliola,R.S. & Beasely, D E

 Mechanical Measurements, Thomas G Beckwith & Roy D Maragoni

 www.en.wikipedia.org
 www.google.com
 www.extremeelectronics.com
 www.alldatasheet.com

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APPENDIX

Appendix A
Table 1: Cost Analysis

Serial no. Name of component Quantity Price (taka)

01 DC Gear Motor 3 1200

02 L298 Breakout Board 2 800

03 Aluminum Frame 6 ft 1000

04 Aluminum Shaft 1.5 ft 180

05 Bearing 7 1050

06 Gear & Rack-Pinion 2 1200

07 Nut bolt 8 200

08 Nylon 1.25 ft 200

09 Transformer 1 350

10 AT Mega 16 1 150

11 Bread board 2 320

12 Bridge Rectifier 1 15

13 IC 7805 1 25

14 Wire 100

15 Wood 360

16 Hollow Cylinder 300

Total 7450

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Appendix B
Microcontroller Code

#include <avr/io.h>

#include <util/delay.h>

#include <stdlib.h>

#include "lcd.h"

#define BAUD 9600

#define BAUDRATE ((F_CPU)/ (BAUD*16UL)-1)

#define F_CPU 8000000UL

int command=0,x,y,z,angle1=200,angle2=400;

float distance=0;

void adc_init()

ADMUX = (1<<REFS0);

ADCSRA = (1<<ADEN)|(1<<ADPS2)|(1<<ADPS1);

uint16_t adc_read(uint8_t ch)

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ch &= 0b00000111;

ADMUX = (ADMUX & 0xF8)|ch;

ADCSRA |= (1<<ADSC);

while(ADCSRA & (1<<ADSC));

return (ADC);

void uart_init (void)

UBRRH=(BAUDRATE>>8);

UBRRL=BAUDRATE;

UCSRB|=(1<<TXEN)|(1<<RXEN);

UCSRC|=(1<<URSEL)|(1<<UCSZ0)|(1<<UCSZ1);

void uart_transmit (unsigned char data)

while (!( UCSRA & (1<<UDRE)));

UDR = data;

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unsigned char uart_recieve (void)

while(!(UCSRA) & (1<<RXC));

return UDR;

int HC_SR04(void)

PORTC|=(1<<PC0);

_delay_ms(10);

PORTC&=~(1<<PC0);

while(!(PINC & (1<<PC1))){}

TCNT1=0;

while(PINC & (1<<PC1))

if (TCNT1>360)

TCNT1=0;

break;

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distance=(TCNT1/2)*1.1;

return distance;

int main (void)

DDRB=0xFF;

DDRD|=(1<<PD3)|(1<<PD4)|(1<<PD5)|(1<<PD6)|(1<<PD2)|(1<<PD7);

DDRC|=(1<<PC0);

DDRC&=~(1<<PC1);

unsigned char a;

int ready=0;

uart_init();

adc_init();

TCCR1B |= (1 << CS12);

LCDInit(LS_NONE);

LCDGotoXY(4,0);

LCDWriteString("WELCOME");

_delay_ms(1000);

LCDGotoXY(5,1);

LCDWriteString("S");

_delay_ms(100);

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LCDGotoXY(6,1);

LCDWriteString("C");

_delay_ms(100);

LCDGotoXY(7,1);

LCDWriteString("A");

_delay_ms(100);

LCDGotoXY(8,1);

LCDWriteString("R");

_delay_ms(100);

LCDGotoXY(9,1);

LCDWriteString("A");

_delay_ms(100);

while(ready==0)

if ((UCSRA) & (1<<RXC))

a=uart_recieve();

if (a==15)

LCDClear();LCDGotoXY(5,0);

LCDWriteString("READY");

ready=1;

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while(1)

while (command==0)

if ((UCSRA) & (1<<RXC))

a=uart_recieve();

if (a==1)

LCDClear();

while(!((UCSRA) & (1<<RXC))){}

LCDGotoXY(0,0);angle1=uart_recieve();LCDWriteInt(angle1,4);angle1=angl
e1*4;

while(!((UCSRA) & (1<<RXC))){}

LCDGotoXY(8,0);angle2=uart_recieve();LCDWriteInt(angle2,4);angle2=angl
e2*3;

while(!((UCSRA) & (1<<RXC))){}

LCDGotoXY(0,1);z=uart_recieve();LCDWriteInt(z,4);

command=1;

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else if (a==2)

LCDClear();

LCDGotoXY(0,0);LCDWriteString("CURRENT POSITION");

x=adc_read(0);LCDGotoXY(0,1);LCDWriteInt(x,3);

y=adc_read(1);LCDGotoXY(6,1);LCDWriteInt(y,3);

LCDGotoXY(12,1);LCDWriteInt(HC_SR04(),3);

else{}

while (command==1)

if (adc_read(0)<angle1)

while (adc_read(0)<angle1)

PORTD|=(1<<PD5);

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PORTD&=~(1<<PD6);

PORTD|=(1<<PD5)|(1<<PD6);

else

while (adc_read(0)>angle1)

PORTD|=(1<<PD6);

PORTD&=~(1<<PD5);

PORTD|=(1<<PD5)|(1<<PD6);

if (adc_read(1)<angle2)

while (adc_read(1)<angle2)

PORTD|=(1<<PD3);

PORTD&=~(1<<PD4);

PORTD|=(1<<PD3)|(1<<PD4);

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else

while (adc_read(1)>angle2)

PORTD|=(1<<PD4);

PORTD&=~(1<<PD3);

PORTD|=(1<<PD3)|(1<<PD4);

if (HC_SR04()<z)

while (HC_SR04()<z)

PORTD|=(1<<PD2);

PORTD&=~(1<<PD7);

PORTD|=(1<<PD2)|(1<<PD7);

else

while (HC_SR04()>z)

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PORTD|=(1<<PD7);

PORTD&=~(1<<PD2);

PORTD|=(1<<PD2)|(1<<PD7);

command=0;

return 0;

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