The Development of a Customized 4-axis SCARA Robot

Abstract

In this research, the Taiwan-made equipment, devices, key components, such as precision transmission system, servo motor and drive system, multi-axis controller, are employed to develop customized 4-axis SCARA robot arm. For meeting the geometric working space, load and operating conditions requirements of robot arm, the geometric design, motion simulation and analysis, standardized parts and component size inspection are accomplished. More, the multi-body dynamic software RecurDyn is used to simulate and analyze the stress, acceleration and motor torque. By adjusting the operation parameters, the customized motion schedule is completed and validated by contrasting the theoretic results. At last, the prototype machine assembled by the Taiwan-made components is tested and adjusted to meet the customized specification, thus sharing the customized industrial robot design experience with the academic and industry.