TECHNICAL UNIVERSITY OF SOFIA Faculty of Mechanical Engineering

SCARA ROBORT ARM (DISASSEMPLY)

KADIR SEZER Fac. No: 283210117

Supervisors: Volodya Pashov Ivo YANAKIEV

2012 2013 SOFIA

 BULGARIAN SCARA ROBOT

First of all l would like to give you some knowledge about scara robot.

SCARA

Notation VRO SCARA stands for Selectively Compliant Assembly Robot Arm Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks SCARA robots have three R joints 1, 2, and 4, plus a P joint d3 perpendicular to that plane of motion, to achieve a 3D workspace. These are common table-top assembly robots.

 Electric
o o o o o

Joint Drive Systems

Hydraulic

Uses electric motors to actuate individual joints Preferred drive system in today's robots Uses hydraulic pistons and rotary vane actuators Noted for their high power and lift capacity Typically limited to smaller robots and simple material transfer applications

Pneumatic

Robot Control Systems Limited sequence control pick-and-place operations using mechanical stops to set positions Playback with point-to-point control records work cycle as a sequence of points, then plays back the sequence during program execution Playback with continuous path control greater memory capacity and/or interpolation capability to execute paths (in addition to points) Intelligent control exhibits behavior that makes it seem intelligent, e.g., responds to sensor inputs, makes decisions, communicates with humans

Robot Control System

Cell Supervisor

Level 2

Controller & Program

Level 1

Joint 1

Joint 2

Joint 3

Joint 4

Joint 5

Joint 6

Sensors

Level 0

Working Envelope

Advantages: high speed. height axis is rigid large work area for floor space moderately easy to program. Disadvantages: limited applications. 2 ways to reach point difficult to program off-line

Example A robot performs a loading and unloading operation for a machine tool as follows:
o Robot pick up part from conveyor and loads into machine (Time=5.5 sec) o Machining cycle (automatic). (Time=33.0 sec) o Robot retrieves part from machine and deposits to outgoing conveyor. (Time=4.8 sec) o Robot moves back to pickup position. (Time=1.7 sec)

Every 30 work parts, the cutting tools in the machine are changed which takes 3.0 minutes. The uptime efficiency of the robot is 97%; and the uptime efficiency of the machine tool is 98% which rarely overlap. Determine the hourly production rate.

Solution Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle Tool change time Ttc = 180 sec/30 pc = 6 sec/pc Robot uptime ER = 0.97, lost time = 0.03. Machine tool uptime EM = 0.98, lost time = 0.02. Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85 min/pc Rc = 60/0.85 = 70.59 pc/hr Accounting for uptime efficiencies, Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr

Disassemble first part

When we started to diassempley frst we did disassemply motors

1.1

1.2

1.1 This motor is return gripper around itself. And this is 12v DC motor. 1.2 this motor turning robot arm left and right. This is a step-motor. Our robot have 3 step-motors. Two of them using on arm to direction control left-right. And last one using on the gripper bar to control up down motion.

CABLE OFF

There are two joint point here. One for gripper control, second for step motor control. That point middle of robot arm this is controlling last arm left right movement. This is first connection point. There is a output and a input here. Output for step motor control. This input connecting to any driver to control all robot motion.

Gear box off

Top of the gear box ,there is a step motor. When step motor start to turn this gears controlling speed. And there is a interesting something here as you see the picture there is a gear and gear cover both of them has teeth but they are not fit each other gear smaller than cover. They used this gear box to make speed control.

The gripper off

First we did cable off. And we did gripper off. And gripper have a dc motor inside to pick and place objects.

The gripper mounted bar off

As you see on the pictures we did disassembly gripper bar from last link.

THE MAIN PARTS OF SCARA ROBOT

BASE

LINKS

cable, motors and gripper mounted bar.

The gripper

The gear box

THANKS FOR ATTENTION