Design and Fabrication of SCARA Robot with 5 Degree of Freedom

These Robots are autonomous systems which can perform desired tasks in unstructured environments without continuous human guidance. Many kinds of robots are autonomous to some degree. Different robots can be autonomous in different ways the daunting task is delays and interruptions in robotic communication system. Control of the robotic arm has been achieved successfully by using servo motors. The micro-controllers implement inverse kinematics algorithms and position control is achieved through Stepper motors. The stepper motors are actuated using the internal stepper motor drivers and servomotors are controlled directly by micro controller. The robotic arm also has the provision of being controlled. The end effecter is a two finger gripper. The robotic arm has a load bearing capacity of around 100gms. The micro controller is programmed such that all the movements of the robot are synchronized to achieve Switches and force sensors are deployed for safety and continuous running of robot. For a robot it is obviously important that it can operate from batteries. Since the micro-controller runs with 5V and motors are with 6V. The main objective is to study the motion constrains and redundancies in positioning the gripper. An extensive study carried out for understanding inertia affect on links due to velocities and acceleration. Axon micro controller which is exclusively designed for robot is used and the software is implemented in embedded system and written in C and C++.