Design and Control of a Parallel SCARA Robot

U ovom završnom radu opisna je izrada i programiranje SCARA robota. Završni rad prikazuje izradu svih dijelova paralelnog SCARA robota, ožičenje elektroničkih komponenti te programiranje gibanja robota. Inverzna kinematika korištena je za izračunavanje potrebnih kutova za pozicioniranje alata robota kako bi elektromagnet mogao pokupiti i premjestiti metalnu kuglu u radnom prostoru robota.This thesis describes the way the SCARA robot was designed and programmed. The final thesis shows all the steps taken from building all the parts, to wiring the electrical components and lastly programming the actual robot to move. Inverse kinematics was used to calculate the required angles for positioning the end effector so that the solenoid can pick and place the metal balls around the work area