Revista Facultad de Ingeniería

Universidad de Antioquia
ISSN: 0120-6230
revistaingenieria@udea.edu.co
Universidad de Antioquia
Colombia

Mohan Mariappan, Saravana; Veerabathiran, Anbumalar

Modelling and simulation of multi spindle drilling redundant SCARA robot using
SolidWorks and MATLAB/SimMechanics
Revista Facultad de Ingeniería Universidad de Antioquia, núm. 81, diciembre, 2016, pp.
63-72
Universidad de Antioquia
Medellín, Colombia

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S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016
Revista Facultad de Ingeniería, Universidad de Antioquia, No. 81, pp. 63-72, 2016

Modelling and simulation of multi spindle drilling

redundant SCARA robot using SolidWorks and
MATLAB/SimMechanics
Modelado y simulación de un robot redundante de perforación tipo manipulador SCARA utilizando SolidWorks y
MATLAB/SimMechanics
Saravana Mohan Mariappan*, Anbumalar Veerabathiran

Department of Mechanical Engineering, Velammal College of Engineering and Technology. Madurai to Rameshwaram High Road,
Viraganoor, Madurai-625009. Madurai, India.

ARTICLE INFO ABSTRACT: The robots are electromechanical systems that need mechatronic approach
Received March 23, 2016 before manufacturing them, in order to reduce the development cost. In this paper, a
Accepted September 29, 2016 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/
KEYWORDS SimMechanics second generation technology environment. Then, SimMechanics simulation
SCARA, multi spindle is performed and by utilizing its motion sensing capability, the dynamic parameters velocity
drilling tool, SolidWorks, and torque of the manipulator are observed for modified variable robot structure. The
SimMechanics, dynamic, simulation results indicate the considerable change in the dynamic performance for varying
simulation, mechanics explorer design parameters.

SCARA, herramienta de RESUMEN: Los robots son sistemas electromecánicos que necesitan enfoque mecatrónico
perforación multi-eje,
antes de fabricarlos, esto con el fin de reducir el costo de desarrollo. En este trabajo se
SolidWorks, SimMechanics,
presenta un nuevo intento de modelado PRRP (prismáticos-revoluto-revoluto-prismático),
dinámica, simulación,
explorador de mecánica una configuración redundante SCARA (Brazo robótico articulado de respuesta selectiva),
herramienta de perforación milti-eje (MSDT) usando el software CAD de SolidWorks y el
estudio dinámico con la ayuda de MATLAB/SimMechanics de perforación. Un SCARA con
MSDT se utiliza para perforar varios agujeros en las placas de circuito impreso (PCB) y
la chapa metálica. En este trabajo, el modelo de CAD 3D del robot propuesto se convierte
en un diagrama de bloque SimMechanics exportando a MATLAB/SimMechanics segunda
generación de tecnología de modelado y simulación. Entonces se realiza una simulación
SimMechanics y utilizando su capacidad de detección de movimiento la velocidad de
parámetros dinámicos y la torsión del manipulador se observa la estructura del robot
variable modificado. Los resultados de la simulación indican un cambio considerable en el
rendimiento dinámico para diferentes parámetros de diseño.

1. Introduction in Japan [1]. SCARA is compact and the working envelopes

are relatively limited. Today SCARA robots are very widely
The SCARA (Selective Compliance Articulated Robot Arm) used in manufacturing industries for their high speed,
is an extensively applicable robot manipulator in this short cycle time, advanced control for path precision and
industrial developed age. It is a popular configuration with controlled compliance to perform the necessary light duty
RRP (Revolute Revolute Prismatic) structure with four tasks to achieve high flexibility, dexterity and productivity.
degrees of freedom. It has two revolute and one prismatic Few light duty applications of SCARA are product inspection,
joint. The tool is attached in the end of the prismatic arm. touch panel evaluation, conveying masks for wafers, screw
The prototype of SCARA robot is introduced in the year 1978 tightening, stacking electronics components, inserting
components in printed circuit boards, tapping, chamfering,
deburring, drilling, welding, soldering, gluing, packing,
* Corresponding author: Saravana Mohan Mariappan
loading and unloading parts of an automated line.
e-mail: saravana.moha@gmail.com
ISSN 0120-6230
e-ISSN 2422-2844
Nowadays, automotive, electrical and electronics industries
are utilizing SCARA robots [2]. The flexibility in workspace
DOI: 10.17533/udea.redin.n81a06

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 S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016

is very essential for the above task. This can be achieved

by the redundancy in the design of the manipulator [3].
2. Related works
The SCARA with redundant characteristics [4, 5] can be In this present work, the focus is on the development of
developed by kinematic modelling and simulation technique new type of redundant SCARA Robot with multiple tool end
incorporated with CAD modelling software. effector applying modelling and MATLAB/SimMechanics
simulation technique, which is not reported yet by other
A comprehensive study of manipulator performance researchers. The proposed PRRP configuration SCARA in
measures that are very essential to design and study the this paper has MSDT as an end effector. Recent research
applications of robotic manipulators, in order to develop a by few authors has adopted the modelling and simulation
robot with improvised configuration was made by [6]. The technique which was adopted for the RRP configuration
Forward and inverse kinematics for SCARA, Cylindrical of SCARA robot with and without single point tool end
robot with four degrees of freedom to find the end-effector effector. The joint motion of SCARA robot with a single
position and orientation which is applicable for TIG or MIG electromagnetic gripper by MATLAB simulation was
welding was studied by [7] . observed and verified [16]. A multi-body model of four
degrees of freedom SCARA was developed for pick and
The literature reviews showed the importance of modelling place application using MapleSim software and the robot
and simulation techniques to develop mechanical performance was evaluated [17]. The Kinematic equations
or electromechanical systems. The researcher [8] for a high speed SCARA robot with a single material
emphasized in his paper the need and the application of handling end effector was developed and performed
modelling and virtual simulation essential to build a robot MATLAB Simulation to validate the robot parameter
rapidly and cost effectively. The advanced simulation tools for reasonable design [18]. The dynamic mathematical
are essential to design sophisticated robotic systems was equation for the two-link robot manipulator for pitching a
suggested by [9]. The simulation is important in designing, ball was derived and the simulation was performed using
testing, predicting the behaviour of robots and solve many SimMechanics to analyse the best performance of the
problems before making it was proposed by an author [10] system [19]. Earlier the researchers also analysed the
in his paper. The mathematical and software developments position, velocity and acceleration in dynamic conditions of
needed for efficient simulation of mechanical systems in pick and place SCARA robot using MATLAB/SimMechanics
the Simulink simulation environment was presented by simulation study [20]. The dynamics of the SCORA -ER14
[11] in their work. The simulation of spherical inverted robot with a single gripper end effector was analysed using
pendulum and dynamics of multibody system using MATLAB simulation [21]. The two SCARA robot postures
SimMechanics described by the researchers in their were compared without end effector for the same length of
paper [12]. The hybrid driven mechanical system time with the same trajectory to obtain the kinematic and
mechanism characteristics was studied using MATLAB/ dynamic parameters by using SolidWorks and MATLAB/
SimMechanics platform [13]. The hybrid driven planar SimMechanics [22]. Previously few authors developed the
five bar parallel mechanism was also investigated using mathematical model of SCARA with a single drilling tool
MATLAB/SimMechanics and acquired angular velocity, robot [23]. They performed the solid dynamics simulation
angular acceleration of kinematic pairs [14]. A 3D CAD to analyse the actuator torque performance and verified it
model of KUKA KR5 robot applicable for peg-in-hole with MATLAB/Simulink.
insertion using Autodesk Inventor was developed earlier
by few researchers. Further, they performed the dynamic The present work can be closely compared with the
simulation using MATLAB/SimMechanics and verified the research work of [24, 25]. They had modelled a redundant
inverse dynamics [15]. SCARA robot for pick and place application with five degrees
of freedom. The authors developed the dynamic model
In this paper, modelling and simulation of new architecture of their proposed robot by means of MATLAB/Simulink
of redundant SCARA robot with MSDT is proposed. The programming and performed several tests like actuator
modelling, simulation and performance evaluation will be dynamics with different controllers under path tracking
carried out in three stages. Firstly, the 3D CAD model of requirements. Unlike the mentioned research, this paper
the proposed robot is developed by using the SolidWorks reveals a new methodology to develop a 3D CAD model
software. Secondly, the CAD model is converted into multi of the SCARA redundant robot of four degrees of freedom
body system block diagram by exporting it to the MATLAB/ with MSDT by using SolidWorks software and simulating
SimMechanics second generation technology environment. the developed model in the MATLAB/SimMechanics second
Thirdly, the SimMechanics simulation is performed to generation environment. The dynamic performance was
observe the dynamic parameters. observed from the simulation results and compared for
modified variables of the robot structure.
The paper is organised as follows: section 2 shows the
related works; section 3 describes the 3D CAD modelling
of the proposed SCARA by SolidWorks software; section 4
presents the method of kinematic modelling the SCARA 3. Modelling by SolidWorks
with MSDT; section 5 exposes the SimMechanics simulation
and dynamic study; section 6 exhibits the simulation results SolidWorks is a solid modelling software which is used
and discussion. Finally, section 7 presents the conclusion to produce parts and assembly drawings by utilizing
derived from the results. parametric features. Here, parameters are referred to

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S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016

constraints. Its values determine the shape or geometry ⎡ R i−1 O i−1 ⎤

of the model. Using this CAD modelling software, the Ai = ⎢ i i ⎥
newly proposed redundant SCARA of its kind with MSDT is ⎢⎣ 0 1 ⎥⎦
modelled. In this SCARA model, the main arm and forearm (2)
form the revolute joints. The tool head is attached to the
prismatic arm in its bottom that is capable of holding four ⎡ Cosθ i −Cosα i Sinθ i sin α i sinθ i ai Cosθ i ⎤
drilling tools placed mutually perpendicular as shown in ⎢ ⎥
the Figure 1. The material assigned to the parts of SCARA is Ai = ⎢ Sinθ i Cosα i Cosθ i −sin α i Cosθ i ai sinθ i ⎥
aluminium. The required design parameters are mentioned ⎢ 0 sin α i Cosα i di ⎥
in the Table 1 and Table 2.
⎢ 0 0 0 1 ⎥
⎣ ⎦
(3)

The (4x4) rigid homogeneous transformation matrices A1,

A2, A3, A4, A5, A6, A7 shown in the Eqs. (4-10) are computed by
applying the D-H parameters listed in Table 1 in the Eq. (3).

Figure 1 SolidWorks model of redundant SCARA

with MSDT

4. Robot Kinematics
Robot Kinematics is a geometric study of motion of a Figure 2 Front view of the SCARA with MSDT and
robotic manipulator with respect to the datum coordinates D-H parameters
system. In this paper, kinematic model is developed using
the Denavit-Hartenberg (D-H) forward kinematic approach.
The primary goal of kinematic modelling is to describe the
robot mechanism.

4.1. Forward kinematics

The forward kinematics deals with computing the position
and orientation of the end effector for the given joint
variables. The kinematic model for finding the position of
the Multi spindle drilling tool end effector attached to the
SCARA robot is derived using the Denavit-Hartenberg (D-H)
forward kinematic approach. The coordinate frames are
assigned based on D-H convention to each joint as shown in
Figures 2 and 3 and its parameters are given in the Table 1.

The homogeneous transformation Matrix [26] Ai is

represented as a product of four basic transformations in
the Eq. (1). It expresses the position and orientation of the
tool with respect to the reference frame as given in Eqs. (2)
and (3).

Ai = T (z, d) T (z, Ө) T(x, a) T(x, α) (1) Figure 3 Bottom view of the MSDT

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Table 1 D-H parameters of the proposed SCARA robot with MSDT

Where ⎡ C 6 −S 6 0 0 ⎤
⎢ ⎥
lm is length of the main arm in mm. S6 C6 0 0 ⎥
A6 = ⎢
lf is length of the fore arm in mm. ⎢ 0 0 1 d5 ⎥
la is length of the drilling Tool A from the prismatic arm axis ⎢ 0 0 0 1 ⎥⎦
⎣ (9)
(Z3).
lb is length of the drilling Tool B from the prismatic arm
axis (Z3), it is in the x axis but in negative direction .So it is ⎡ C 7 −S 7 0 0 ⎤
⎢ ⎥
assumed as - lb. S7 C7 0 0
A7 = ⎢ ⎥
⎢ 0 0 1 d6 ⎥
d1, d2, d3, d4, d5, d6, d7 are link offset length between the ⎢ ⎥
⎣ 0 0 0 1 ⎦
successive links. (10)

C2, C3, C6, C7 are Cosine function of joint angles. 4.2. Kinematic model for drilling Tool A
S2, S3, S6, S7 are Sine function of joint angles.
and Tool B position
⎡ 1 0 0 0 ⎤ The direct kinematic model to find the orientation and
⎢ ⎥
0 1 0 0 the position of the tool A is obtained by applying the
A 1= ⎢ ⎥
⎢ 0 0 1 lp + d 1 ⎥ homogeneous transformations given in the Eqs. (11) and
⎢
0 0 0 1
⎥ (12).
⎣ ⎦ (4)
TA= A1A2.A3.A4. A6. (11)
⎡ C 2 −S 2 0 lmC 2 ⎤
⎢ ⎥
S2 C2 0 lmS 2
A2 = ⎢ ⎥ ⎡ C 6C 23+ S 6S 23 −S 6C 23+ C 6S 23 0 (la + lf )C 23+ lmC 2 ⎤
⎢ 0 0 1 0 ⎥ ⎢ ⎥
C 6S 23− S 6C 23 −S 6S 23− C 6C 23 0 (l a + lf )S23 + lms2
⎢
⎣ 0 0 0 1 ⎥
⎦ TA = ⎢⎢ ⎥
⎥
(5) 0 0 −1 d 1+ lp − d 5− d 4
⎢ ⎥
⎢⎣ 0 0 0 1 ⎥⎦
⎡ C3 S3 0 lmC 3 ⎤
⎢ ⎥ (12)
S 3 −C 3 0 lmS 3
A3 = ⎢ ⎥
⎢ 0 0 1 0 ⎥ The Eqs. (13-15) represent the Tool a Position with reference
⎢ 0 0 0 1 ⎥
⎣ ⎦ (6) to the base frame.

⎡ 0 la ⎤
xA = (la + l )C + lmC 2
1 0 f 23 (13)
⎢ ⎥
1 1 0 0 ⎥
A 4= ⎢
⎢ 0 0 1 d4 ⎥
⎢ y A = (l a +l )S23 + lms2
⎣ 0 0 0 1 ⎥⎦ f (14)
(7)
z A = d1 + l p − d − d4
⎡ 1 0 0 − lb ⎤ 5 (15)
⎢ ⎥
0 1 0 0
A5 = ⎢ ⎥
The kinematic model in the homogeneous transformation
⎢ 0 0 1 d4 ⎥
⎢ ⎥ matrix form for Tool B is TB given in the Eqs. (16) and (17).
⎢⎣ 0 0 0 1 ⎥⎦
(8)
TB= A1.A2.A3.A5.A7 (16)

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S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016

⎡ C 7C 23 + S 7 S 23 −S 7C 23 + C 7 S 23 0 (lf − lb)C 23 + lmC 2 ⎤ yC = l S23 + lmS2

⎢ ⎥
f (25)
C 7 S 23 − S 7C 23 −S 7 S 23 − C 7C 23 0 (lf − lb)S23 + lmS2
TB = ⎢⎢ ⎥
0 0 −1 d 1 + lp − d 6 − d 4
⎥ zC = l p + d1 − d4 − dM
⎢ ⎥ (26)
⎢⎣ 0 0 0 1 ⎥⎦
(17)

Tool B position is indicated by the Eqs. (18-20).

xB = (l f − lb )C23 + lmC2
(18)

yB = (l f − lb )S23 + lm S2
(19)

zB = d1 + l p − d6 − d4
(20)

The D-H parameter values are given in Table 2.

Table 2 Values of the D-H Parameters

Figure 4 Geometrical representation of the

SCARA with MSDT
Similarly substituting Ө3 = Ө3 + δ in the Eqs. (27) and
(28). The position coordinates xd and yd of tool D can be
determined. The Z
d
coordinate can be determined by using the Eq. (29).

x D = l f C23 + lmC2
In the Eqs. (12-14) and Eqs. (17-19), C23 denotes Cos (Ө2 + (27)
Ө3), S23 denotes Sin (Ө2 + Ө3).
y D = l S23 + lmS2
f (28)
4.3. Determination of drilling tool C
and D position z D = l p + d1 − d4 − d M
(29)
The coordinate position of the midpoint ‘M’ of the tool
head is found as follows in the Eqs. (21-23) using the D-H 4.4. Inverse kinematics for the end
representation. effector
x M = l f C23 + lmC2 In the inverse kinematics the joint variables are determined
(21)
for the desired position and orientation of the end effector
of the robot. The algebraic methods [27, 28] of inverse
y M = l S23 + lmS2 kinematics are used to verify the joint angles when its is in
f (22)
tool A position using the coordinate Eqs. (13) and (14).
z M = l p + d1 − d4 − dM
(23) The inverse kinematic model is expressed in the Eqs. (30-33)
by solving the Eqs. (13) and (14) by required simplifications.
Here dM = d5 = d6
θ 3 = π ± Cos(α ) (30)
Geometrically by using the principle of a right angle triangle
the position of tool C and tool D are found out using the
α = lm ((l p +(l + la ))/4l p (l + la )± ...
Figure 4. From the geometrical representation in Figure 4, f f
the tool C position coordinates xc and yc can be predicted by
((4l p (l + la )− lm )(2l p (l + la )− l p 2....
2
substituting the value Ө3 = Ө3 - δ in the Eqs. (24) and (25). f f
Zc coordinate can be found out by using the Eq. (26). 1
−(l + la )2 )+ 4l p (l + la )( x a2 + y a2 ))2 /4l p (l + la )
xC = l C 23 + lmC 2 f f f
f (24) (31)

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θ 2 = −2arctan( β ) the model was executed using the MATLAB command

(32) window .The CAD model of the robot was converted into
a block diagram with the connecting blocks representing
x a ±( x a2 + y a2 − s32(4(l + la )c 3((l + la )c 3 + lm2 )) the revolute and prismatic joints. The input joint primitives
β= f f are assigned in the joint blocks to get the output through
y a + l2s3 +(l + la )s23 workspace block mentioned in the Figure 5.
f
(33)
5.2. Dynamic study by SimMechanics
Where the symbol Ө2 and Ө3 denotes angular displacement
of rotary joint 2 and joint 3. The robot dynamics is the study of manipulator motion in
terms of time rate of change of the robot configuration.
Similarly the Ө2 and Ө3 are to find out for tool B, tool C and Conventionally, dynamic parameters are computed using
tool D positions. the laborious equations, but in this present work the
simulation methodology is used to study the dynamics of
the system. The dynamic behavior exerted in the joints by
the manipulator links is studied in this section with the
5. SimMechanics simulation aid of SimMechanics second generation platform. The
and dynamic study dynamic variables can be sensed between joint frames, for
the modified design parameters of the robot by using the
SimMechanics [29] is a multibody simulation environment sensing capability of joint blocks shown in the Figure 5.
for 3D mechanical and electromechanical systems.
The multibody system can be modelled using blocks
representing bodies, joints, constraints and force elements.
Then the SimMechanics formulates and solves the 6. Simulation results and
equations of motion for the complete mechanical system
based on the CAD model. The equations derived through
discussion
kinematic modelling in the previous section will not be used
The simulation of CAD model of the SCARA is carried out in
in the SimMechanics to analyse the system performance.
the SimMechanics second generation environment with the
It has the flexibility to change the structure, optimize
modified variable of the robot structure and performance
system parameters and to analyze the results within the
characterestics are observed. The modified variable and the
SimMechanics environment in much lesser time [30, 31].
dynamic performace of the robot are shown in the Table 3.
The 3D CAD model from the SolidWorks modelling platform
can be imported into SimMechanics. The system dynamics
By adding PS-Simulink convertor blocks, sine wave blocks
are visualized using automatically generated 3D animation
and by enabling the joint velocity sensing primitives to
in MATLAB/Mechanics Explorer. The CAD model developed
SimMechanics block diagram of the proposed SCARA robot
using SolidWorks mentioned in the previous section is used
provide the filtered linear velocity of the prismatic joint 1
for the simulation purpose.
and 2. The output plot through the workspace block for
the maximum displacement of 100mm by prismatic link 1
5.1. Simulation methodology and 10mm by prismatic link 2 respectively for time instant
t =10s is shown in Figure 5. The simulated elbow up and
The 3D CAD model of the proposed SCARA was exported elbow down path by the manipulator links for the assigned
from SolidWorks environment to MATLAB/SimMechanics joint primitives is shown in the MATLAB Explorer window
environment in the form of XML and STL file through as shown in Figure 6.
SimMechanics second generation link. The XML file of

Table 3 Modified Variable vs. Dynamic Performance

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S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016

Figure 5 SimMechanics model to determine the angular velocity of revolute joints

Figure 6 Simulated view of the proposed SCARA in MATLAB/Mechanics Explorer

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Figures 7 and 8 shows the Linear velocity vs time plot

generated for prismatic joint 1 and 2. It shows the velocity
varies with time as it gets displaced periodically.

Figure 10 Angular Velocity of revoulte

joint 2 if l m = l f = 250mm
Figure 7 Velocity of prismatic joint 1 Figures 11 and 12 indicates the torque required at joint 1
and joint 2 respectively. The observed torque values are
12.29Nm and 0.09Nm respectively if lm = lf = 250mm.

Figure 8 Velocity of prismatic joint 2

Figure 11 Torque of revoulte joint 1 if
Figures 9 and 10 shows the graphical result of angular l m = l f = 250mm
velocity at the revolute joints if lm = lf = 250mm. The
maximum angular velocity observed at the joint 1 and joint
2 are 35.92deg/s and 88.49deg/s.

Figure 12 Torque of revoulte joint

2 if l m = l f = 250mm
If lm = lf = 300mm, the maximum angular velocity observed
in the joints 1 and 2 as 14.01deg/s and 38.88deg/s are as
Figure 9 Angular Velocity of revoulte joint 1 if shown in the Figures 13 and 14.
l m = l f = 250mm

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S. Mohan et al.; Revista Facultad de Ingeniería, No. 81, pp. 63-72, 2016

Figure 16 Torque of revoulte joint

2 if l m = l f = 300mm
Figure 13 Angular Velocity of revoulte joint
1 if l m = l f = 300mm The performance characterstics velocity and torque in the
joints of the proposed robot structure for varying main
arm length and the fore arm length of the manipulator are
mentioned in the Table 3. By comparing the performance
given in the Table 3, the change in the dynamic performance
is observed for the modified design variables of the robot.

7. Conclusion
This paper presents the first attempt of modelling and
simulation of a new type of redundant SCARA robot with
MSDT by utilizing the SolidWorks CAD modelling and
MATLAB/SimMechanics software. With the aid of schematic
representation of the CAD model of the robot and assigned
D-H parameters, new kinematic model was developed to
identify the four tool positions of the MSDT attached to
the SCARA. The simulation was performed in the MATLAB
/SimMechanics second genetration environment by
Figure 14 Angular Velocity of revoulte joint exporting the 3D CAD model from the SolidWorks platform.
2 if l m = l f = 300mm The dynamic performance velocity and torque are
observed from the simulation results for the manipulator
Figures 15 and 16 shows the required torque at joint 1 and movement in elbow up and elbow down path for modified
joint 2 as 42.49Nm and 16.12Nm respectively. main arm length and fore length of robotic manipulator.
The simulations results of dynamic performance for the
modified variables of the robot structure infer that the
structure of the robot can be modified to get the required
dynamic parameters. The modelling and simulation of
robot using SolidWorks and SimMechanics methodology
reveals that the design and structural changes can be done
with great ease based on the simulated dynamic study.
Thus, developing a robot with a desired configuration will
be economical and easier; it is the obtained end result of
this innovative research.

8. Acknowledgements
The work presented here had been done in the lab developed
in Velammal College of Engineering and Technology,
Figure 15 Torque of revoulte joint Madurai, Tamil Nadu, India by the All India Council for
1 if l m = l f = 300mm Technical Education, Government of India project grant
under research promotion scheme (No.20/AICTE/RIFD/
RPS(POLICY-III)111/ 2012-2013) for developing “Intelligent
Robot Manipulator Systems”.

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2. R. N. Jazar, Theory of applied robotics, 2nd ed. New York, of High-Speed SCARA Robot Handling Operation,”
USA: Springer, 2009. Applied Mechanics and Materials, vol. 687-691, pp.
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