LINEAR STATIC ANALYSIS &

DEVELOPMENT OF
ROBOTIC ARM

Presented by: Guided by:

Rifaquat F.Vijapurwala(09ME54) Pro. S.G.Patel
Mihir B. Joshi (09ME39)
Tahir N. Momin (09ME58)
Dilip V. Dave (09ME07)
 Presentation Framework
Introduction
Literature review
Objectives
Methodology
Workspace of SCARA robot
Pro-e design of SCARA robot
Analysis of SCARA Robot using ANSYS
Conclusion
References
 Introduction
Human Dream: Build a Human Clown

 Human Arm - Robot manipulator

 Human Leg - Mobile robot
Legged robot
 Human Eye - Machine vision
 Hand-eye task - Visual servoing
 Listen and talk - Sound recognition
 Think and decide - Artificial intelligence
Introduction( contd….)
Robot:
A motorized computer-controlled machine
that can be programmed to do a variety of
tasks especially repeatable and tiresome
ones.
What is linear static analysis?
It allows engineers to test different load
conditions & resulting stress & deformation.
Introduction( contd….)
Robot Evolution
 Literature Review
What is SCARA Robot ?

 SCARA (which stands for Selectively Compliant

Articulated Robot Arm) is a specialty robot
which has two parallel rotary joints to provide
compliance in a plane.
 A third prismatic joint allows the arm to
translate vertically.
 SCARA robots differ from articulated robots in
that its workspace consists of two concentric
cylinders.
 The gripper can raise, lower, and rotate to
orient the component to be assembled.
Literature Review ( contd…)
Workspace of SCARA robot
Literature Review ( contd…)
Different types of SCARA robot
Literature Review ( contd…)
End Effector
Literature Review ( contd…)
Manipulator components:
Arm - Links and joints
Hand - End effector
Actuators and drive
Sensors and transducers
Computer and Electronics
Education via software
Literature Review ( contd…)
DENAVIT- HARTENBERG (D-H) Notation:
The definition of a manipulator with four joint-
link parameters for each link and a systematic
procedure for assigning right handed
orthonormal coordinate frame, one to each link
in a open kinematic chain, was proposed by
Denavit and IIl1llcnberg (l955) and is known as
Denavit Hartenberg (DH) notation.
Literature Review ( contd…)
SCARA MANUPULATOR KINEMATICS
 Objectives

Analysis of SCARA robot

Development of SCARA robotic arm.
 Methodology

Prepare layout as per combination of prescribe

robot movements.
Modelling of SCARA robot .
Find out the workspace of robot using MATLAB
programming.
Design different parts & whole assembly of
robotic arm using Pro-e.
APPLICATIONS OF SCARA
ROBOT
 Workspace of SCARA robot
Using forward kinematics method we can find out
the position orientation of end effector.
 Pro-e design of SCARA robot

Constructing the cylinder Constructing the small block

 Pro-e design of SCARA robot
( contd…)

Constructing the small arm

Constructing the top most block
Pro-e design of SCARA robot
( contd…)

Constructing the
short arm Constructing the full assembly
 INTRODUCTION OF ANSYS

ANSYS is a general purpose finite element analysis (FEA) software package.

It is founded in 1970 by Dr. John Swansoy.
ANSYS is leading the evolution of CAE tools and technologies, delivering
customer value by enabling to improve product development and processes.
ANSYS is committed to developing simulation solutions – from mechanical
to computational fluid dynamics (CFD) – that illustrate realistic and accurate
modeling and simulation of components, subsystems, and systems; replacing
hardware prototyping and testing.
ANSYS provides a cost-effective way to explore the performance of products
or processes in a virtual environment. This type of product development is
termed virtual prototyping.
ANALYSIS OF MAIN BLOCK
ANALYSIS OF LONG ARM
ANALYSIS OF SMALL ARM
ANALYSIS OF LARGE CYLINDER
ANALYSIS OF SMALL CYLINDER
ANALYSIS OF FULL ARM
Conclusion
Kinematics model developed describes the spatial
position of joints and links, and position &
orientation of the end-effectors. It gives the
relations between the position & orientation of
the end-effectors & spatial position of joint-links.
Using method of Jacobeans actuation torque is
computed in designing the drives of the actual
robot. It is believed that systematic methodology
proposed for computation & software developed
will be helpful for practical designers.
Conclusion ( contd….)
Program developed in MAT-LAB gives actual
movement of arm in forward and inverse position
which will not disturbed the equilibrium of robot.

The maximum payload for this robotic arm is 196 N

(20 kg). If we apply this load to full arm, it deflects
but does not break. So design is safe for given
maximum pay load.

If we apply the same load to individual parts, they

also deflects but do not break. So design is safe for
given maximum pay load.
References
Daryl L. Ogan, First Course in the Finite Element
Method-THOMSON-Brooks/Cole, 2001.
Tirupathi Chandruptala & Ashok D. Belegundu,
Introduction to Finite Elements in Engineering-
Prentice Hall of India Private Limited,2005.
R.K.Mittal, I.J.Nagrath, Robotics & Control-
Tata McGraw-Hill Publishing Company
Limited,2003.
M. Taylan Das, L. Canan Du¨lger, Mathematical
modelling, simulation and experimental verification
of a scara robot: Simulation Modelling Practice and
Theory 13 (2005) 257–271.
References (contd….)
Serhan Yamacli , Huseyin Canbolat; Simulation of
a SCARA robot with PD and learning
controllers: Simulation Modelling Practice and
Theory 16 (2008) 1477–1487.
Gernot Kronreif , Joachim Kettenbach;
Evaluation of a robotic targeting device for
interventional radiology: International Congress
Series 1268 (2004) 486–491.
X.J. Wua, J.Tangb, , Q.Lia, K.H.Henga;
Development of a configuration space motion
planner for robot in dynamic environment:
Robotics and Computer-Integrated
Manufacturing 25 (2009) 13–31
References (contd….)
Mahdi Salman Alshamasin, Florin Ionescu, Riad
Taha Al-Kasasbeh; Kinematic Modeling and
Simulation of a SCARA Robot by Using Solid
Dynamics and Verification by MATLAB /
Simulink.
C.M. Wronka, M.W. Dunnigan; Derivation and
analysis of a dynamic model of a robotic
manipulator on a moving base: Robotics and
Autonomous Systems 59 (2011) 758–769.
THANKS………….