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contributor authorمرتضی شریعتی سرچشمهen
contributor authorعلیرضا اکبرزاده توتونچیen
contributor authorسیدعلی موسوی محمدیen
contributor authorسلمان علیمردانیen
contributor authorMorteza Shariateefa
contributor authorAlireza Akbarzadeh Tootoonchifa
contributor authorSeyyed Ali Mousavi Mohammadifa
contributor authorSalman Alimardanifa
date accessioned2020-06-06T14:17:10Z
date available2020-06-06T14:17:10Z
date copyright10/15/2014
date issued2014
identifier urihttps://libsearch.um.ac.ir:443/fum/handle/fum/3390146?locale-attribute=en&show=full
description abstractThis paper presents mechanical design process of an industrial and economical SCARA robot, called FUM

SCARA, designed by a team of students at the Ferdowsi University of Mashhad, in Iran. SCARA robots are among the most widely used robots in industry due to their inherent rigidity and high accuracy. The design process included, joint design, link design, controller design as well as selection of mechanical and

electrical components. The challenge was to use readily available components in Iran with an eye on keeping the costs down. The FUM SCARA robot offers impressive performance such as ~±0.01 mm repeatability, maximum linear velocity of 8.5 m/s in xy plane, 0.5 seconds pick and place cycle time and a flexible control system. These specifications are in line with existing industrial robots. However, unlike the existing commercial robots, the control architecture in FUM SCARA is designed to

allow for simple implementation of new control algorithms. Finally, using a PID controller, a critical trajectory in robot’s workspace is traced. Results indicate low error during the fast trajectory.
en
languageEnglish
titleDesign of an Economical SCARA Robot for Industrial Applicationsen
typeConference Paper
contenttypeExternal Fulltext
subject keywordsSCARAen
subject keywordsindustrial roboten
subject keywordsrobot’s mechanical designen
subject keywordsjoint designen
subject keywordscritical trajectoryen
identifier linkhttps://profdoc.um.ac.ir/paper-abstract-1046102.html
conference title2nd ICRoM International Conference on Robotics and Mechatronicsen
conference locationتهرانfa
identifier articleid1046102


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