Fundamentals of Robotics

Lab Report # 4

Spring 2023
Obtained Marks
Total Marks

Lab Engineer Signature &

Student Name Comments

1 Abdul Rehman Al Nasir

.
Experiment No: 4 Date of Submission:
March-7-2023
Experiment Title:
Simulation of SCARA in V-REP
Batch: Teacher:
BSEE 2020-24 Dr. Nasir Rehman
Jadoon
Semester Lab Engineer:
6th Engr. Younas Kayani
Engr. Muhammad
Abdullah
1 Abstract
This lab was focused on using V-REP software as robotics simulator. Through the use of the
software, we were able to simulate collision and movement physics virtually. A near estimation
of SCARA robot was modelled and some dynamic simulation features were tested to get
familiarized with the environment and workflow of the software. The software lets us import part
files or even whole robots into the scene and lets us program the robot with one of many
programming languages.

2 Introduction
2.1 CoppeliaSim (V-REP)
V-REP (Virtual Robot Experimentation Platform) is a 3D robot simulation software developed
by Coppelia Robotics. It is used for designing, simulating, and testing robotic systems in a virtual
environment. V-REP is a powerful and flexible tool that can simulate a wide range of robotic
systems, including manipulators, mobile robots, drones, and humanoid robots. The software
provides various functionalities such as 3D modeling, physics engine, path planning, and robot
control programming, which can be used to create realistic simulations of complex robotic
systems. V-REP supports multiple programming languages, including C++, Python, Java, and
Lua, and can be integrated with other tools such as MATLAB and ROS (Robot Operating
System). The software is widely used in academic research, industrial applications, and
educational settings to teach and learn robotics.
2.2 SCARA Robot
The SCARA is a type of industrial robot. The acronym stands for Selective Compliance
Assembly Robot Arm or Selective Compliance Articulated Robot Arm.
By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y
direction but rigid in the Z direction, hence the term selective compliance. This is advantageous
for many types of assembly operations, for example, inserting a round pin in a round hole
without binding.

Figure 1 SCARA Robot

3 Procedure
Following Dimensions were used in modeling of SCARA robot. The parts were not modeled
accurately as this lab focused on operation of joints and dynamic simulation.
 Figure 2 Dummy Dimensions

i. Add a cylinder in the scene with dimensions X=180mm and Z=290mm. This will be the
base.

Figure 3 Step 1

ii. Place a cuboid on top of cylinder with following dimensions, X=180mm, Y=330mm and
Z=40mm. This will be the link 1.
 Figure 4 Step 2

iii. Place a cuboid on top of pervious cuboid with dimensions, X=180mm, Y=405mm,
Z=40mm.This will be the link 2.

Figure 5 Step 3

iv. Place a cuboid in front of previous cuboid with dimensions, X=60mm, Y=60mm,
Z=395mm. This will be that link where tooltip is attached.

Figure 6 Step 4

v. Add joints. Connect base and link 1 with revolute joint, link 1 and link 2 with revolute
joint and link 2 and link 3 with prismatic joint.
 Figure 7 Step 5

vi. Change rigid body properties of base to non-dynamic but respondable object.
vii. Create hierarchy of parts in the following order.

Figure 8 Hierarchy

viii. Change motor properties of joint with appropriate values and run the simulation.

Figure 9 Simulation
4 Discussion and Conclusion
In conclusion, our exploration of the V-REP software by modelling a robot with similarity to one
of the most famous robots of all time ie. SCARA robot was a valuable experience for gaining
familiarity with the functionalities of this powerful simulation tool. Through this experiment, we
gained a deeper understanding of the principles of robotic systems, their dynamic behavior and
the practical skills needed for designing and simulating them using V-REP. The simulation
environment of V-REP allows us to test different scenarios and configurations without the need
for a physical robot, which saved time and resources. This laboratory experiment was a great
opportunity for us to apply the theoretical concepts learned in class and gain hands-on experience
in the field of robotics. Overall, we believe that our experience with V-REP will be valuable in
our future endeavors in robotics research and development.