TY - JOUR ID - 21098 TI - Modeling, control, and simulation of a SCARA PRR-type robot manipulator JO - Scientia Iranica JA - SCI LA - en SN - 1026-3098 AU - Uk, M.E. AU - Sajjad Ali Shah, F.B. AU - Soyaslan, M. AU - Eldogan, O. AD - Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey. Y1 - 2020 PY - 2020 VL - 27 IS - 1 SP - 330 EP - 340 KW - SCARA robot KW - Real-time control KW - Modelling KW - Simulation KW - PRR KW - Servo motor DO - 10.24200/sci.2018.51214.2065 N2 - In this study, a SCARA PRR-type robot manipulator is designed and implemented. Firstly, the SCARA robot was designed according to the mechanical calculations. Then, forward and inverse kinematic equations of the robot are derived by using D-H parameters and analytical methods. The software is developed according to obtain cartesian velocities from joint velocities and joint velocities from cartesian velocities. The trajectory planning is designed using the calculated kinematic equations and the simulation is performed in MATLAB VRML environment. A stepping motor is used for prismatic joint of the robot, and servo motors are used for revolute joints. While most of the SCARA robot studies focus on RRP-type servo control strategy, this work focuses PRR-type and both stepper and servo control structures. The objects in the desired points of the workspace are picked and placed to another desired point synchronously with the simulation. So the performance of the robot is examined experimentally. UR - https://scientiairanica.sharif.edu/article_21098.html L1 - https://scientiairanica.sharif.edu/article_21098_78d1e2ef66a1f50e243fc0c00b688f8a.pdf ER -