Development and Control of a Prototype Manipulator SCARA Type as Teaching Tool

摘要

This paper presents the development and manufacture of a manipulator robot SCARA type (Selective Compliance Articulated Robot Arm) with five degrees of freedom turned to the education and with applicability in the stocks organization whose methodology will use the goal of accounting, the functionality and the cost optimization. The prototype presents an innovation over traditional fixed-base manipulators modifying this structure to develop horizontal linear motion, which will provide a greater extent of workload, minimizing a present limitation of these machines. The system involved the preparation of the mechanism and a firmware in C programming language, building a human-machine and assembly of the embedded system interface. To move the proposed joints are used stepper motors with microstepping drive in open loop. The position control system is of the continuous type in open architecture. The manipulator went through stages of development and experimental testing of his mechanical system, interface circuits, embedded systems and programming, in order to explore all the speed characteristics and repeatability of positioning.