Sharif University of Technology Scientia Iranica 1026-3098 27 1 2020 02 01 Modeling, control, and simulation of a SCARA PRR-type robot manipulator 330 340 21098 10.24200/sci.2018.51214.2065 EN M.E. Uk Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey. F.B. Sajjad Ali Shah Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey. M. Soyaslan Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey. O. Eldogan Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey. Journal Article 2018 06 19 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. https://scientiairanica.sharif.edu/article_21098_78d1e2ef66a1f50e243fc0c00b688f8a.pdf