Test Tube Assortment Using SCARA Robot Platform

摘要

The Robotic system has been deployed for many applications that enable productivity. Out of many robots, the Selective Compliance Assembly Robot Arm (SCARA) stands off as it is faster than most industrial robots. SCARA robots have the best positional repeatability among all industrial robots. This SCARA robot platform, recognized for its precision and versatility, is designed for assorting test tubes in a laboratory, involving the construction of a robot for picking and placing test tubes. The SCARA robot is built based on a mechanical open design with all the adaptations needed for the application mainly on dimensions, end-effector etc using Fusion360. The actuators were based on four NEMA17 stepper motors and one servo exclusively for the end effector. The actuators were driven with an A4988 driver from an Arduino microcontroller; the power source was a computer power supply. The modelling of the robot is undertaken based on Denavit-Hartenburg (DH) parameters to formulate the kinematics. The inverse kinematics implementation in the software enabled the pick and place operations as part of the application. The system features positional control and an articulated arm structure, contributing to its effectiveness. Testing was done using a 6-hole wooden platform where test tubes were sorted according to a given input. The robot swiftly and accurately picks up from home and places it into one of the six holes for assortment. The experimental results demonstrate the transformative impact of SCARA robots in this application, enhancing productivity and accuracy.