Application of a four degrees of freedom SCARA robot for arranging purposes

Industrijske robotske ruke sve više čine sastavni dio automatizacije te se primjenjuju u sve širem spektru industrija. Sam proces automatizacije, u okviru primjene navedenih manipulatora, uključuje niz različitih disciplina među kojima se jednako ističu razvoj software-a i hardware-a. U okviru ovog diplomskog rada stoga je obuhvaćen razvojni proces koji uključuje konstrukciju potrebnih komponenata te kreiranje upravljačkog koda koji omogućuje upravljanje manipulatorom i alatima u svrhu obavljanja željenog zadatka. Odabrani se manipulator, SCARA robotska ruka sa četiri stupnja slobode gibanja, pri tome koristiti za raspoređivanje većeg broja komponenata sa početnih nedefiniranih pozicija na točno određene finalne pozicije. Za opisanu je pick&place primjenu SCARA manipulator, zbog jedinstvenog radnog prostora i specifičnih karakteristika, odabran kao optimalno rješenje. Premještane će komponente uglavnom predstavljati slova abecede čijim će se nizanjem na finalnoj lokaciji omogućavati interakcija s korisnikom. Kako bi omogućilo premještanje opisanih komponenata, osim samog alata za prihvat komponenata, razvijeni su dodatni dijelovi nužni za obavljanje definiranog zadatka, pozicionirani u radnom okolišu manipulatora. Kao glavni fokus diplomskog rada, stvaranje interaktivnog okoliša je, osim ispisa nizanjem određenog broja komponenata, ostvareno i u obliku interaktivne igre ''Vješala'' gdje odabrani SCARA manipulator zamjenjuje jednog od igrača nužnih za igranje odabrane igre. Manipulator pri tome, uporabom upravljačkog koda, obavlja zadatke odabira riječi za pogađanje, premještanja određene komponente ovisno o odabiru slova igrača te definiranje pobjede ili gubitka igre, nakon čega slijedi povrat komponenata na njihovu originalnu poziciju. U završnom su dijelu rada spomenuta potencijalna proširenja, nadogradnje i različite moguće primjene kreiranog sustava. Samo je rješenje predstavljeno i kreireno u okviru virtualnog okruženja odabranog ABB softwarea, RobotStudio, koji je odabran u kombinaciji sa IRB 910SC-3/0.45 SCARA manipulatorom. Ostatak je komponenata kreiran pomoću CAD softwarea, Solidworks.Industrial robot arms are increasingly becoming an essential part of automation and are being implemented in a growing number of industries. The process of automation itself, including the application of aforementioned manipulators, consists of several different disciplines among which the development of the software and the hardware are equally important. This Master’s thesis will therefore deal with the development processes, including both the design of necessary components and the control code which enables the control of the manipulator and adjacent tools, with the purpose of performing a desired task. The chosen manipulator, SCARA robot arm with four degrees of freedom is used within the scope of this work for the arranging of a relatively large number of components from undefined start positions to exactly defined final position. SCARA manipulator was chosen as an optimal solution for the described pick&place application due to its unique work envelope and specific attributes. The components, which are mostly representing alphabet letters, will be transferred to their final location subsequently, where they are used to facilitate straightforward interaction with the user. To enable the transfer of described components, beside the tool needed to grip the components, additional parts (required to fulfil the required task) were designed and then positioned inside of the manipulator work envelope. As the main focus of the thesis was to create an interactive environment, beside write-outs which are created by subsequently positioning a number of components, an interactive game of ''Hangman'' was created where the chosen SCARA manipulator acts as one of the players necessary for the chosen game. The manipulator, through the use of the control code, performs the following tasks: choosing a word which is to be guessed, repositioning of the components depending on the choice of the player and defining a victory or a loss of a game, after which the components are repositioned back to their original positions. In the final part of this thesis possible expansions, build-ups and different applications of the created system are mentioned. The solution itself is presented and created in a virtual environment of a chosen ABB software, Robotstudio, which was chosen alongside an IRB 910SC-3/0.45 SCARA manipulator. The rest of the components were created using a CAD software, Solidworks