Vibration and Kinematic Analysis of Scara Robot Structure

Abstract

This paper presents a procedure for assessing the vibration analysis of type SCARA robots. The motion and running conditions of such robots are very complicated that leads to produce vibration and shock which are generated by arm profile in running conditions .In this study the vibration analysis gives the feasibility of the preview control was examined to improve the performance of the SCARA robots system. As it is important for containment the robot arm trajectories generated by the model to show satisfactory safe performance under vibration occurrence phenomena so that they completely avoid errors, the results obtained from such vibration analysis assessment procedure are considered to be valuable and reliable process not only with respect to vibration risk assessment but also for predicting kinematic analysis by investigating the robot arm motion using the kinematic and vibration methods. Forced vibrations is studied analytically help the designer to predict the behavior and design the robot hardware or control system. Theoretical results show reduction in both vibration amplitude and time history response.