Abstract

ARROYO FLORES, Caleb Richard  and  TRIVENO VARGAS, Francisco Javier. Modeling and simulation of a SCARA robot with three degrees of freedom using SolidWorks and Matlab/Simulink®. RevActaNova. [online]. 2022, vol.10, n.3, pp.318-344.  Epub Mar 31, 2022. ISSN 1683-0789.

This paper presents the modeling and simulation of a SCARA robot with 3 degrees of freedom, establishes the comparative aspects between the Euler- Lagrange method and the use of Solidworks for trajectory tracking. The kinematic and dynamic model of the SCARA robot is presented considering the structure modeled in SolidWorks, in the latter the mechanical structure, material selection and its respective structural analysis are included. Once the CAD model of the SCARA robot was finished, the model was exported to the Matlab/Simulink® environment using the Simscape Multibody plugin. In parallel, a matrix model based on the Euler-Lagrange method is presented, additionally the Simscape Multibody plugin allowed the sizing of the necessary actuators for the robot. With the models based on matrixes and CAD, simulations are carried out and comparisons are established between both models considering the planned trajectory. Advantages and disadvantages of the use of both models are established.

Keywords : Euler-Lagrange model; CAD model; SCARA.

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