Abstract:
In this work, we aimed to design and realise a 4 degrees of freedom robot manipulator type SCARA for pick-and-place applications with modest to decent performances. We first introduced the definition and history of robots from the antiquity to modern age. We then described the full process of the design, printing, assembly and programming of our robot prototype. The mathematical model of the robot is then derived alongside the introduction of the concept of trajectory planning subsequent to its own simulation in addition to the simulation of the total workspace of the robot.
