Research Papers

Optimizing SCARA Design for Higher Repeatability

[+] Author and Article Information
Jean-François Brethé

Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH), Le Havre University, BP540, 76058 Le Havre, Francejean-francois.brethe@univ-lehavre.fr

J. Mechanisms Robotics 3(2), 021010 (Apr 11, 2011) (7 pages) doi:10.1115/1.4003847 History: Received June 21, 2010; Revised March 18, 2011; Published April 11, 2011; Online April 11, 2011

In this paper, the author proposes a new method to design SCARA robots for higher repeatability. First, the author outlines various procedures used in optimal robot design and then points out among the various performance indices those related to repeatability. The author adds some new criteria issued from the stochastic ellipsoid theory. Another innovative part of the paper is to take into account a task-oriented strategy during the design stage, meaning the possibility of adapting task orientation and location in the robot workspace. These concepts are applied to SCARA optimal design. The method described here consists of considering simultaneously robot geometry and joint repeatability, keeping both the reach and the total cost of the sensors constant. It results in an optimization problem with adimensional ratios, which then allows easy comparisons with existing SCARA. The results are surprising and give some clues to answer the underlying question: Are industrial SCARA designed for high repeatability?

Copyright © 2011 by American Society of Mechanical Engineers
Topics: Robots , Design , Sensors
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Figure 1

Isotropic and anisotropic assembly tasks

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Figure 2

Minimax and maximax errors

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Figure 3

2R link planar robot

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Figure 4

Characteristics of industrial SCARAs

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Figure 5

Optimal SCARA design using C1 criterion

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Figure 6

Optimal SCARA design using C2 criterion

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Figure 7

Optimal SCARA design using C3 criterion

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Figure 8

Minimax and maximax errors for C3 optimized SCARA

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Figure 9

Optimal SCARA design using C5 criterion

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Figure 10

Optimal SCARA design using C6 criterion




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