Design and Construction of a Manipulator Type Scara, Implementing a Control System

This paper describes the design and construction of a Robot manipulator type SCARA (Selective Compliance Assembly Robot Arm). The robots SCARA are robots of 3 degrees of freedom, uncounted the end off, designed for the assembling of pieces and the selective manipulation its control system, allows the positioning of the end effector in their points of work (control point to point PTP). For the design of SCARA, was developed the robot's kinematics and dynamic study, developing and applying a Mechatronics methodology using CAD (Computer Aided Design) and CAE (Computer Aided Engineering) tools. In this paper is presented the mechanical and control system, the electric and electronic components for the operation, and the implementation of the control system. This robot uses servo-motors and DC motors to generate the necessary torque to make their tasks. The motors control is developed whit PWM signals and used three microcontrollers for it. The microcontrollers generate a signal PWM beginning from calculus of inverse kinematics developed in the Mechatronics design