Improving the Workspace for A 3dof Scara Robot by Investigating the Main Parameters of Denavit-Hartenberg Approach


S N Alnomani*, K S Nassrullah, A M Imran


Mechanical Engineering Department, University of Kerbala, Karbala, Iraq

Corresponding Author Email: salah.n@uokerbala.edu.iq

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The workspace of any robot can play a big role in accomplishing the required work perfectly. There are many parameters to be considered when designing and optimization workspace for any specific application. In this study, the effect of the flexibility of the revolute joints angle of rotation for PRR- SCARA robot on its workspaces was investigated. The workspace was studied for 13 cases, and in each case, a different range of motion for motors were selected. An optimization was done for the purpose of choosing the best working range for all robot motors. It was found that increasing the motor’s working range on the first rotational joint and reducing it for the next joint will lead to improve and increase in the workspace of the robot under study. A mathematical relationship was proposed to calculate the workspace area for SCARA robot in terms of the motors working ranges with an average error of (2.07%).