Table of Contents

Abstract .................................................................................................................4

Chapter # 1 Introduction .....................................................................................5

1.1 Objective ...................................................................................................................... 5

1.1.2 Kinematic Simulation and Validation:.................................................................. 6

1.1.3 Performance Optimization and Validation: .......................................................... 6

1.2 Background.................................................................................................................. 6

1.2.1 Types of Industrial Robots: ................................................................................... 6

1.2.2 Applications of Industrial Robots: ........................................................................ 7

1.2.3 Robot Programming and Control: ........................................................................ 7

1.2.4 Benefits of Industrial Robots: ................................................................................ 8

1.3 Theory .......................................................................................................................... 8

1.3.1 Link Coordinate diagram ....................................................................................... 9

1.3.2 D-H Parameters of SCARA Robot ......................................................................... 9

Chapter # 2 Design of SCARA Robot .............................................................10

2.1 Design Criteria .......................................................................................................... 10

2.1.1 Payload Capacity and End Effector Design: ....................................................... 10

2.1.2 Precision and Accuracy: ...................................................................................... 10

2.1.3 Hygiene and Sanitization: .................................................................................... 10

2.1.4 Safety and Collision Avoidance:........................................................................... 11

2.2 Materials and Apparatus ......................................................................................... 11

1
 2.2.1 Materials: ............................................................................................................. 11

2.2.3 Sensors and Vision Systems: ................................................................................ 12

2.2.4 Control System: .................................................................................................... 12

2.3 Working Envelop ...................................................................................................... 13

Chapter # 3 Form Generation & Evaluation ..................................................14

3.1 CAD Model ................................................................................................................. 15

3.2 Final Design of SCARA Robot ................................................................................. 15

Chapter # 4 Software .........................................................................................16

4.1 VREP Code ................................................................................................................ 10

4.2 Matlab Code .............................................................................................................. 10

4.2.1 Forward Kinematics ............................................................................................. 10

4.2.2 Inverse Kinematics ............................................................................................... 11

Chapter # 5 Discussion and Conclusion ...........................................................23

References............................................................Error! Bookmark not defined.

2
List of Figures
Figure 3-1 CAD Model.............................................................................................................. 14

Figure 3-2 MATLAB Trajectory of Forward Kinematics ..........................................................15

Figure 3-3 MATLAB Trajectory of Inverse Kinematics ............................................................15

Figure 3-4 VREP View …...........................................................................................................15

List of Tables
Table 1 D-H Parameters................................................................................................................9

3
 Abstract
This project focuses on developing a SCARA (Selective Compliance Assembly Robot Arm) robot
tailored for pick-and-place operations involving cookies. The design phase employs SolidWorks
to create a 3D model, considering dimensions, mechanical properties, and payload capacity for
precise and efficient operation. SolidWorks enables accurate modeling and assembly, providing a
visual representation of the robot's structure, including a sturdy base, articulated arm segments,
and a customized end effector for cookie handling.

After completing the design, the project transitions to the coding and simulation phase using V-
REP (Virtual Robot Experimentation Platform). V-REP serves as a robust robotics simulation
platform, allowing the development and testing of control algorithms for the SCARA robot. The
coding involves programming motion, control, and coordination, specifically tailored for cookie
pick-and-place operations, utilizing the Lua language within the user-friendly V-REP interface.
The control algorithms enable the robot to identify, securely grip, and accurately place cookies in
predetermined locations.

By integrating SolidWorks and V-REP, the designed SCARA robot can be virtually simulated and
tested, allowing for the evaluation and optimization of performance without the need for physical
prototyping. This combination of SolidWorks' design capabilities and V-REP's simulation
platform provides an efficient and cost-effective solution for designing and programming a
SCARA robot customized for cookie pick-and-place operations.

4
 Chapter # 1 Introduction

A SCARA (Selective Compliance Assembly Robot Arm) robot is a commonly utilized robotic arm
in industrial automation settings, specifically designed for precise and repetitive tasks, particularly
in assembly and pick-and-place operations. Comprising rigid, articulated arms with joints allowing
movement in both horizontal and vertical planes, the SCARA robot offers a combination of high
speed, accuracy, and payload capacity.

What sets the SCARA robot apart is its compliance in the Z-axis, indicating limited vertical
flexibility while maintaining substantial rigidity in the X and Y axes. This compliance allows the
robot to execute rapid and precise movements within a planar workspace, making it well-suited
for applications such as assembly line operations, packaging, and material handling.

Typically, the architecture of a SCARA robot includes a base, two or more articulated arms, and
an end effector or tooling for executing specific tasks. Control of the robot is facilitated by a
computer or a programmable logic controller (PLC),offering precise motion control and
coordination. The development of control algorithms is essential for programming the robot's
movements, encompassing tasks like path planning, trajectory generation, and collision avoidance.

1.1 Objective
The objectives of designing a SCARA robot for pick and place of cookies using SolidWorks and
coding on V-REP can be summarized as follows:

1.1.1 Design Optimization:

 Utilize SolidWorks to design a SCARA robot specifically tailored for cookie pick and place
operations.
 Optimize the robot's mechanical structure, dimensions, and end effector design to ensure
efficient and precise handling of cookies.
 Incorporate features such as grippers or suction cups that are suitable for securely gripping
cookies without causing damage

5
1.1.2 Kinematic Simulation and Validation:
 Utilize V-REP for coding and simulation of the SCARA robot's motion and control
algorithms.
 Implement the kinematic model of the robot in V-REP to accurately simulate its
movements during pick and place operations.
 Validate and refine the robot's control algorithms in V-REP to ensure accurate positioning
and smooth trajectory planning for cookie handling.

1.1.3 Performance Optimization and Validation:

 Use V-REP to optimize the robot's performance by fine-tuning control parameters such as
speed, acceleration, and deceleration.
 Validate the performance of the SCARA robot in V-REP by conducting virtual simulations
of pick and place tasks with different cookie types and configurations.
 Evaluate the robot's efficiency, accuracy, and repeatability in picking and placing cookies,
ensuring that it meets the desired production requirements.

1.2 Background
Industrial robots are programmable machines designed to perform various tasks with high
precision, speed, and reliability in industrial settings. These robots are commonly used in
manufacturing, assembly, and automation processes to improve productivity, efficiency, and
safety. Here are some key aspects of industrial robots:

1.2.1 Types of Industrial Robots:

 Articulated Robots: These robots have rotary joints resembling a human arm, allowing
for flexible and complex movements.
 Cartesian Robots: Also known as gantry robots, they have three linear axes (X, Y, Z) and
move in a rectilinear coordinate system.
 SCARA Robots: Selective Compliance Assembly Robot Arms are designed for tasks
requiring planar movements with vertical compliance.

6
  Delta Robots: Utilize a parallel linkage system and are commonly used in high-speed pick
and place applications.
 Collaborative Robots (Cobots): Designed to work alongside humans safely, these robots
have built-in safety features and force-sensing capabilities.

1.2.2 Applications of Industrial Robots:

 Manufacturing and Assembly: Robots perform tasks such as welding, material handling,
packaging, and quality inspection.
 Automotive Industry: Robots are extensively used in assembly lines, painting, welding,
and handling heavy components.
 Electronics Industry: Robots handle delicate electronic components, perform precision
soldering, and assembly of devices.
 Food and Beverage Industry: Robots assist in packaging, sorting, palletizing, and
handling food products.
 Pharmaceuticals: Robots aid in drug manufacturing, packaging, and quality control
processes.
 Logistics and Warehousing: Robots automate order fulfillment, inventory management,
and material handling tasks.

1.2.3 Robot Programming and Control:

 Offline Programming: Robots can be programmed offline using simulation software,
enabling optimization and reducing downtime.
 Teach Pendant Programming: Operators use a handheld device to physically guide the
robot through the desired motions.
 Vision Systems: Robots can be equipped with vision sensors to detect and recognize
objects, enhancing flexibility and adaptability.
 Sensing and Feedback: Robots may use force sensors, encoders, and other feedback
mechanisms to ensure precise movements and avoid collisions.

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1.2.4 Benefits of Industrial Robots:
 Increased Productivity: Robots can work tirelessly, improving production rates and
reducing cycle times.
 Improved Quality: Robots offer high precision and repeatability, minimizing errors and
defects in manufacturing processes.
 Enhanced Safety: Robots can handle hazardous tasks, reducing the risk of injury to human
workers.
 Cost Savings: Automation with robots can lead to cost reduction through increased
efficiency, decreased scrap rates, and optimized resource utilization.
 Flexibility and Scalability: Robots can be reprogrammed or reconfigured to adapt to
changing production needs and accommodate different products or tasks.

1.3 Theory
The creation of a SCARA robot for the purpose of picking and placing cookies, involving
SolidWorks for mechanical design and V-REP for coding, necessitates a fusion of mechanical
design principles and programming theory. In the mechanical design phase, SolidWorks is
employed to construct a comprehensive 3D model of the SCARA robot, meticulously determining
size, dimensions, and the number of arms and joints. Special focus is given to the end effector's
design, ensuring its capability to securely grip and handle cookies without causing damage.
Attention to factors such as structural integrity, rigidity, and precision is paramount to ensure
efficient and accurate cookie handling.

In the realm of kinematics, the theory behind the SCARA robot's design entails establishing the
correlation between joint angles and the position and orientation of the end effector. This
relationship is fundamental for programming the robot's movements and achieving precision in
pick-and-place operations. Forward kinematics calculations ascertain the position and orientation
of the end effector based on the joint angles, while inverse kinematics calculations determine the
joint angles necessary to achieve a desired position and orientation of the end effector.

The programming and simulation phase of the design process involves coding on V-REP, a
versatile simulation platform. Control algorithms are developed using programming languages like

8
MATLAB, Python, or C++, depending on the V-REP interface. These algorithms are tailored to
tasks such as cookie identification, secure gripping, and precise placement in predetermined
locations. Simulation in V-REP allows for the implementation of the SCARA robot's kinematic
model, facilitating accurate movement simulation and validation of the control algorithms.
Furthermore, performance optimization is attainable by adjusting control parameters like speed,
acceleration, and deceleration.

1.3.1 Link Coordinate diagram

1.3.2 D-H Parameters of SCARA Robot

Table 1 DH Parameters

9
 Chapter # 2 Design of SCARA Robot

In this chapter various concepts will be generated to tackle the problem at hand. This will be
followed by a thorough comparison among each of the designs developed which will allow us to
finalize which concept is superior.

2.1 Design Criteria

Design criteria for a SCARA robot for pick and place of cookies can be summarized in the
following steps:

2.1.1 Payload Capacity and End Effector Design:

 Determine the average weight and size of the cookies to be handled.
 Assess the required payload capacity of the robot to accommodate the heaviest cookies.
 Design an end effector that can securely grip and handle cookies without causing damage
or deformation.
 Consider the type of gripping mechanism, such as grippers or suction cups, suitable for the
cookie shape and texture.

2.1.2 Precision and Accuracy:

 Define the required precision and accuracy for the pick and place operation.
 Consider the mechanical structure of the SCARA robot, such as the number and
configuration of arms and joints, to achieve the desired positioning accuracy.
 Optimize the control algorithms to minimize positioning errors and ensure consistent and
precise placement of cookies.
 Evaluate the repeatability of the robot's movements to ensure the cookies are consistently
placed in the desired locations.

2.1.3 Hygiene and Sanitization:

 Identify the hygiene and sanitation requirements for the food industry.

10
  Choose materials for the robot's construction that are food-grade, corrosion-resistant, and
easy to clean.
 Design the robot in a way that allows for easy access and cleaning of all components,
reducing the risk of contamination.
 Consider the use of coatings or surface treatments that promote easy cleaning and prevent
the accumulation of crumbs or debris.

2.1.4 Safety and Collision Avoidance:

 Implement safety features to protect operators and prevent collisions.
 Incorporate sensors or vision systems to detect the presence of objects or personnel in the
robot's workspace, enabling collision avoidance.
 Integrate emergency stop buttons and safety interlocks to halt the robot's motion in critical
situations.
 Ensure proper risk assessment and adherence to safety standards to minimize potential
hazards associated with the robot's operation.
 By following these design criteria, engineers can develop a SCARA robot optimized for
the pick and place of cookies, considering factors such as payload capacity, precision,
hygiene, and safety. This ensures efficient and reliable performance in the food industry
while maintaining product quality and safety standards.

2.2 Material and Apparatus

The choice of materials and apparatus for a SCARA robot used for pick and place of cookies
depends on various factors such as hygiene requirements, payload capacity, and design
considerations. Here are some common materials and apparatus used:

2.2.1 Materials:
Aluminum: Aluminum is a lightweight and corrosion-resistant material commonly used for the
construction of SCARA robot arms and frames. It provides strength while keeping the overall
weight of the robot low.

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Stainless Steel: Stainless steel is a popular choice for components that come into direct contact
with the cookies or are exposed to moisture or cleaning agents. It offers excellent corrosion
resistance and is easy to clean.

Food-Grade Plastics: Certain parts of the robot, such as grippers or end effectors, can be made
from food-grade plastics. These plastics are safe for handling food products, do not react with the
cookies, and are easy to clean.

2.2.2 Gripping Mechanisms:

Grippers: Grippers are commonly used to pick and place cookies. They can be designed with soft
and flexible materials, such as silicone, to prevent damage to the cookies while providing a secure
grip.

Suction Cups: Suction cups can be employed for handling cookies with smooth surfaces. They
create a vacuum seal to hold the cookies during pick and place operations.

Conveyor Belts or Pallets: In some cases, a SCARA robot may work in conjunction with
conveyor belts or pallets to facilitate the transfer of cookies. These conveyance systems can be
made of food-grade materials such as stainless steel or food-grade plastics.

2.2.3 Sensors and Vision Systems:

Proximity Sensors: Proximity sensors, such as photoelectric sensors or capacitive sensors, can be
used to detect the presence of cookies or other objects in the robot's workspace.

Vision Systems: Vision systems, such as cameras or 3D scanners, can be integrated into the robot
to identify and locate cookies accurately. These systems provide visual feedback to guide the
robot's movements during pick and place operations.

2.2.4 Control System:

Programmable Logic Controller (PLC): A PLC is commonly used as the control system for
SCARA robots. It allows for the programming and coordination of the robot's movements,
communication with sensors and vision systems, and integration with the overall automation
system.

12
Motor Drives: Motor drives are used to control the movement and positioning of the robot's joints.
They receive commands from the control system and provide precise control over the robot's
motion.

2.3 Working Envelop

The working envelope of a SCARA robot for pick and place of cookies refers to the space within
which the robot can perform its intended tasks. The working envelope is determined by the reach
and range of motion of the robot's arms and joints. Here are some considerations for determining
the working envelope of a SCARA robot for pick and place of cookies:

Reach: The reach of the robot defines the maximum distance the end effector can reach from the
robot's base. It is determined by the length of the robot's arms and the configuration of the joints.
The reach should be sufficient to cover the entire area where the cookies are located.

Height: The vertical height of the working envelope is important to ensure that the robot can reach
the cookies placed at different heights. The height is determined by the length of the vertical arm
of the SCARA robot and any additional extension mechanisms, if present.

Depth: The depth of the working envelope refers to the distance from the robot's base to the
farthest point the end effector can extend. It determines how far the robot can reach into the
workspace to pick up or place the cookies.

Clearance: Clearance refers to the space required for the robot to move freely without any
obstructions. It is essential to ensure that the robot can move without collisions with the
surrounding environment or other machinery. The clearance should consider the size and shape of
the cookies, as well as any obstacles or structures in the workspace.

When designing the working envelope of a SCARA robot for pick and place of cookies, it is
important to consider the layout and dimensions of the cookie production line or workspace. The
working envelope should be designed to cover the entire area where the cookies are located,
allowing the robot to reach, pick up, and place cookies accurately and efficiently.

13
 Chapter # 3 Form Generation & Evaluation

This chapter explores the development of two distinct designs of the same concept and their
subsequent comparison to determine the preferred option.

3.1 CAD models

The CAD model of a SCARA robot for pick and place of cookies created using SolidWorks is a
comprehensive representation of the robot's mechanical design. The model consists of multiple
components, including the robot's base, arms, joints, and end effector. The base serves as the stable
foundation for the robot, while the arms and joints enable the desired range of motion. The end
effector is specifically designed to securely grip and handle cookies during the pick and place
operation. The CAD model showcases the dimensions, assembly, and interconnections of these
components, allowing for precise visualization and analysis of the robot's structure. The
SolidWorks CAD model provides engineers with a detailed and accurate representation,
facilitating design optimization, kinematic analysis, and the validation of the robot's performance
before manufacturing and implementation.

Figure 3.1 CAD Model

14
3.2 Final Design of SCARA Robot

Figure 3.2 Matlab Trajectory of Forward Kinematics

Figure 3.3 Matlab Trajectory of Inverse Kinematics

Figure 3.4 VREP View

15
 Chapter # 4 Software

4.1 VREP Code

threadFunction=function()

-- Put your thread code here (initialization and clean-up code should not be in here)

-- Some EXTERNAL commands (e.g. socket commands provided by Lua libraries)

-- might appear as blocking to the simulator. In that case, you can define

-- a non-blocking section as following example shows:

--

-- simSetThreadIsFree(true) -- Start of the non-blocking section

--

-- Following 2 lines are meant as an example of EXTERNAL blocking commands:

-- http = require("socket.http")

-- print(http.request("http://www.google.com"))

--

16
 -- simSetThreadIsFree(false) -- End of the non-blocking section

--

-- While in a non-blocking section, try to avoid calling sim-functions. Also

-- never forget to close the blocking section, otherwise V-REP will hang.

-- Make sure you read the information related to the simSetThreadIsFree

-- API function in V-REP's documentation.

-- If you wish to synchronize a threaded loop with each simulation pass,

-- set the thread switch timing in the initialization phase of this script

-- to the maximum (200), and manually switch thread here with the

-- simSwitchThread() command.

-- ( simSwitchThread() will suspend this script's execution until next

-- simulation pass, i.e. until the simulation time has changed )

--

-- Following example illustrates this:

--

-- while simGetSimulationState()~=sim_simulation_advancing_abouttostop do

-- local p=simGetObjectPosition(objHandle,-1)

-- p[1]=p[1]+0.001

-- simSetObjectPosition(objHandle,-1,p)

-- simSwitchThread()

-- end

end

-- Put some initialization code here:

17
 simSetThreadSwitchTiming(2) -- Default timing for automatic thread switching

-- Here we execute the regular thread code:

res,err=xpcall(threadFunction,function(err) return debug.traceback(err) end)

if not res then

simAddStatusbarMessage('Lua runtime error: '..err)

end

4.2 MATLAB Code

4.2.1 Forward Kinematic

height = 150; width = 214;

m1 = [428;0;220;0;0;0]; m2 = [428;0;0;0;0;0]; m3 = [0;214;0;0;0;0]; m4 = [0;214;220;0;0;0];

for t12 = 0:0.1:2

w1=0; w2=0; w3=220+165*t12^2-55*t12^3; w4=0; w5=0; w6=0;

w1_1=0;

w2_1=0; w3_1=330*t12-165*t12^2;

plot3([0,w1],[0,w2],[0,w3],'r.'); drawnow; hold on;

plot3([0,w1_1],[0,w2_1],[0,w3_1],'b.'); drawnow; hold on; end

for t23 = 0:0.1:5

w1=-51.36*t23^2+6.848*t23^3; w2=25.68*t23^2-3.424*t23^3; w3=440; w4=0; w5=0; w6=0;

w1_1=-102.72*t23+20.544*t23^2;

w1_2=51.36*t23-10.272*t23^2; w1_3=0

plot3([0,w1],[0,w2],[0,w3],'r.'); drawnow; hold on;

plot3([0,w1_1],[0,w2_1],[0,w3_1],'b.'); drawnow; hold on; end

18
 for t34 = 0:0.1:2

w1=-426; w2=213; w3=440-165*t34^2+55*t34^3; w4=0; w5=0; w6=0;

w1_1=0;

w2_1=0; w3_1=-330*t34+165*t34^2;

plot3([0,w1],[0,w2],[0,w3],'r.'); drawnow; hold on;

plot3([0,w1_1],[0,w2_1],[0,w3_1],'b.'); drawnow; hold on; end

4.2.2 Inverse Kinematic

clc

syms theta1 theta2 theta4 d3 a1 a2 d1 d4 pi theta3

a1=10;

a2=10;

d1=10;

d4=10;

% Take input from the user for eq1 at t=0 and t=10

t0 = 0;

t1 = 10;

Wx_t0 = input('Enter the value for Wx at t=0: ');

Wx_t1 = input('Enter the value for Wx at t=10: ');

% Take input from the user for eq2 at t=0 and t=10

Wxd_t0 = input('Enter the value for Wxd at t=0: ');

Wxd_t1 = input('Enter the value for Wxd at t=10: ');

% Take input from the user for eq3 at t=0 and t=10

19
Wy_t0 = input('Enter the value for Wy at t=0: ');

Wy_t1 = input('Enter the value for Wy at t=10: ');

% Take input from the user for Wyd at t=0 and t=10

Wyd_t0 = input('Enter the value for Wyd at t=0: ');

Wyd_t1 = input('Enter the value for Wyd at t=10: ');

% Take input from the user for Wz at t=0 and t=10

Wz_t0 = input('Enter the value for Wz at t=0: ');

Wz_t1 = input('Enter the value for Wz at t=10: ');

% Take input from the user for Wzd at t=0 and t=10

Wzd_t0 = input('Enter the value for Wzd at t=0: ');

Wzd_t1 = input('Enter the value for Wzd at t=10: ');

% Create coefficient matrix and constant vector

A=[

1, t0, t0^2, t0^3, 0, 0, 0, 0, 0, 0, 0, 0;

0, 1, 2*t0, 3*t0^2, 0, 0, 0, 0, 0, 0, 0, 0;

0, 0, 0, 0, 1, t0, t0^2, t0^3, 0, 0, 0, 0;

0, 0, 0, 0, 0, 1, 2*t0, 3*t0^2, 0, 0, 0, 0;

0, 0, 0, 0, 0, 0, 0, 0, 1, t0, t0^2, t0^3;

0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 2*t0, 3*t0^2;

1, t1, t1^2, t1^3, 0, 0, 0, 0, 0, 0, 0, 0;

20
 0, 1, 2*t1, 3*t1^2, 0, 0, 0, 0, 0, 0, 0, 0;

0, 0, 0, 0, 1, t1, t1^2, t1^3, 0, 0, 0, 0;

0, 0, 0, 0, 0, 1, 2*t1, 3*t1^2, 0, 0, 0, 0;

0, 0, 0, 0, 0, 0, 0, 0, 1, t1, t1^2, t1^3;

0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 2*t1, 3*t1^2];

B=[

Wx_t0; Wxd_t0; Wy_t0; Wyd_t0; Wz_t0; Wzd_t0;

Wx_t1; Wxd_t1; Wy_t1; Wyd_t1; Wz_t1; Wzd_t1

];

% Solve the system of linear equations

constants = A \ B;

% Extract the constants for each equation

a_x0 = constants(1);

a_x1 = constants(2);

a_x2 = constants(3);

a_x3 = constants(4);

a_y0 = constants(5);

a_y1 = constants(6);

a_y2 = constants(7);

a_y3 = constants(8);

a_z0 = constants(9);

a_z1 = constants(10);

21
a_z2 = constants(11);

a_z3 = constants(12);

% Generate t values for plotting

for t_values = 0:0.5:3;

% Evaluate each equation with the obtained constants

W1 = a_x0 + a_x1 * t_values + a_x2 * t_values.^2 + a_x3 * t_values.^3;

Wxd_values = a_x1 + 2 * a_x2 * t_values + 3 * a_x3 * t_values.^2;

W2 = a_y0 + a_y1 * t_values + a_y2 * t_values.^2 + a_y3 * t_values.^3;

Wyd_values = a_y1 + 2 * a_y2 * t_values + 3 * a_y3 * t_values.^2;

W3 = a_z0 + a_z1 * t_values + a_z2 * t_values.^2 + a_z3 * t_values.^3;

Wzd_values = a_z1 + 2 * a_z2 * t_values + 3 * a_z3 * t_values.^2;

q2=acosd((w1^2+w2^2-a1^2-a2^2)/(2*a1*a2));

q1=atan2d(a2*sind(q2)*w1+(a1+a2*cosd(q2))*w2,-a2*sind(q2)*w2+(a1+a2*cosd(q2))*w1);

q3=d1-d4-w3;

end

22
 Chapter # 5 Discussion and Conclusion

SCARA robot design in SOLIDWORK is shown in Figure 3.1. This design focus on simplifying
assembly processes, reducing the number of components, and improving ease of maintenance. The
use of standardized parts, modular assemblies, and well-defined assembly sequences helps
streamline the manufacturing and assembly processes. By incorporating DFA principles, the
overall efficiency and cost-effectiveness of the robot's production and maintenance are enhanced.

In V-REP, these SCARA robot designs can be simulated to evaluate their performance and validate
their functionality. Code in LUA language in given in chapter 6. The simulation allows for testing
different scenarios, optimizing the control algorithms, and verifying the robot's ability to
accurately pick and place cookies. Through the integration of SolidWorks and V-REP, engineers
can ensure that the designed robot performs optimally in real-world applications, meeting the
requirements of the pick and place of cookies task.

In conclusion, the design of a SCARA robot for pick and place of cookies using SolidWorks and
coding on V-REP offers a comprehensive and efficient solution for automation in the food
industry. SolidWorks allows for the creation of a precise and optimized mechanical design,
considering factors such as payload capacity, end effector design, and hygiene requirements. The
kinematic theory ensures accurate positioning and movement of the robot's arms and joints,
facilitating precise pick and place operations for cookies.

Coding on V-REP enables the development of control algorithms that handle tasks such as cookie
identification, gripping, and placing in predetermined locations. The simulation capabilities of V-
REP allow for testing and validating the robot's performance before deployment, ensuring smooth
and optimized operations.

By integrating SolidWorks and V-REP, engineers can achieve a seamless workflow from
mechanical design to programming and simulation. This approach offers the advantage of
optimizing the robot's performance, reducing errors, and improving efficiency in the pick and place
of cookies.

23
Overall, the combination of SolidWorks and V-REP provides a powerful platform for designing
and programming a SCARA robot for pick and place of cookies, enabling enhanced productivity,
accuracy, and hygiene in the food industry. This technology facilitates automation and streamlines
processes, ultimately benefiting manufacturers by improving throughput and maintaining product
quality and consistency.

References

[1]. G. Boothroyd and P. Dewhurst, Design for Assembly: A Practical Guide.

[2]. Fundamentals of Robotics: Analysis and Control Facsimile by Schilling, Robert J
[3]. Elite Leather, "ANSI Cut Level Standards," Elite Leather, Available:
https://eliteleather.com/ansi-cut-level-standards/. [Accessed: May 29, 2023].

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