Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics

Abstract

The robots are electromechanical systems that need mechatronic approach before manufacturing them, in order to reduce the development cost. In this paper, a novel attempt of Modelling PRRP (Prismatic-Revolute-Revolute-Prismatic), configuration redundant SCARA (Selective Compliance Articulated Robot Arm), robot with a Multi spindle drilling tool (MSDT) using SolidWorks CAD software, and the dynamic study with the aid of MATLAB/SimMechanics is presented. The SCARA with MSDT is used to drill multiple holes in the printed circuit boards (PCBs) and sheet metal. In this work, the 3D CAD model of the proposed robot is converted into SimMechanics block diagram by exporting it to the MATLAB/SimMechanics second generation technology environment. Then, SimMechanics simulation is performed and by utilizing its motion sensing capability, the dynamic parameters velocity and torque of the manipulator are observed for modified variable robot structure. The simulation results indicate the considerable change in the dynamic performance for varying design parameters.