Analyses of a Modified SCARA Manipulator (RRRRP) for Pick and Place Application

Selective Compliance Assembly Robot Arm (SCARA) manipulator implementations are effective in the workplace (industrial) world, basically due to their exceptional accuracy and quickness in horizontal task assembly. The only constraint to their functionality is their modulus of vertical motion, which limits their applications with items in warehouse space and in very flexible manufacturing systems, with orientation being highly imperative, where vertical motion is an absolute movement aspect, it can be included. The study employed CAD modelling to engage design contextualization, draft a prototype, structural and kinematic contextualization, and motion contextualization, followed by material selection. This work also included kinematic modelling using the Denavit-Hartenberg method to conceptualize the capture of the workspace, trajectory planning, and finite element analysis of the theoretical concept for stress analysis under loading. A comparison to a traditional SCARA system model showed greater fit with diminished workspace and tolerating mass loads with a greater load capability factor, and it had reasonably significant trajectory planning accuracy. The stress calculations, once sent through the serial chain, confirmed that the system also remained confined to static equilibrium with insignificant displacements of stated loads and totally insignificant deflections that reside in elastic limits. Overall, the ability to realize additional functionality with the proposed product is beneficial both in the workplace by having a greater ability to provide a broader functionality workspace with items that require movement in both planes.