International Journal of Robotics and Automation (IJRA)

Vol. 3, No. 4, December 2014, pp. 221~233

ISSN: 2089-4856  221

Dynamic Behavior of a SCARA Robot by using N-E Method for

a Straight Line and Simulation of Motion by using Solidworks
and Verification by Matlab/Simulink

Brahim Fernini
Depatement of Mechanical, Blida University, Algeria
Design, path planning and dynamic modeling for serial robots by using Solidworks (2013) and Matlab/Simulink (2012)

Article Info ABSTRACT

Article history: SCARA (Selective Compliant Assembly Robot Arm) robot of serial
architecture is widely used in assembly operations and operations "pick-
Received Jun 17, 2013 place", it has been shown that use of robots improves the accuracy of
Revised Oct 6, 2013 assembly, and saves assembly time and cost as well. The most important
Accepted Apr 2, 2014 condition for the choice of this kind of robot is the dynamic behavior for a
given path, no closed solution for the dynamics of this important robot has
been reported. This paper presents the study of the kinematics (forward and
Keyword: inverse) by using D-H notation and the dynamics of SCARA robot by using
N-E methods. A computer code is developed for trajectory generation by
Robotics using inverse kinematics, and calculates the variations of the torques of the
SCARA Robot links for a straight line (path rest to rest) between two positions for operation
Dynamic Behavior "pick-place". SCARA robot is constructed to achieve “pick-place» operation
path planning using Solid Works software. And verification by Matlab/Simulink. The
Simulation results of simulations were discussed. An agreement between the two
Solid Works softwares is certainly obtained herein.
Matlab/Simulink Copyright © 2014 Institute of Advanced Engineering and Science.
All rights reserved.

Corresponding Author:
Brahim Fernini,
Departement of Mechanical, Blida University, ALGERIA
BP 270 route de soumaa, Blida, ALGERIA
e-mail: [email protected]

Nomenclature:
Aii1 D-H transformation matrix for adjacent frames, i and i  1
Ci Cosine i
Cijk Cosine ijk = cosine {( i +  j ) + k }
di Distance from the origin of the ( i  1 ) the coordinate frame to the intersection of the Zi1 axis with the
Xi axis along Zi1 axis
ei is the position vector of the COM of link i with respect to frame i
Fi Input force for i th joint
fi Force exerted on link i by link i  1 at the coordinate frame ( Xi1 , Yi 1 , Zi 1 ) to support link i and
the links above it

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222  ISSN: 2089-4856

i Input torque for i th joint

I i Inertia matrix of link i about its center of mass with reference to the coordinate system ( X0 , Y0 , Z0 )
Ji Inertia matrix of link i about its center of mass referred to its own link coordinate system ( Xi , Yi , Zi )
li The shortest distance between Zi1 and Zi axes
meff Effective mass.
mi Mass of the i th link
ni Moment exerted on link- i by link i  1 at the coordinate frame ( Xi1 , Yi 1 , Zi 1 )

pi* is the displacement from the origin of frame i−1 to frame i with respect to frame i
i The joint angle from Xi1 axis to the Xi axis about the Zi1 axis (using the right hand rule)
R i 1 A 3 × 3 rotation matrix which transforms any vector with reference to coordinate frame ( Xi , Yi , Zi )
to the coordinate system ( Xi1 , Yi 1 , Zi 1 )

Si Sine i
S ijk Sine ijk = sine {( i +  j ) + k }

Vi Linear velocity of the coordinate system ( Xi , Yi , Zi ) with respect to base coordinate system ( X0 , Y0 ,
Z0 )
i Angular velocity of the coordinate system ( Xi , Yi , Zi ) with respect to base coordinate
system ( X0 , Y0 , Z0 )

1. INTRODUCTION
Pick And Place cycle is the time, in seconds, to execute the following motion sequence: Move down
one inch, grasp a rated payload; move up one inch; move across twelve inches; move down one inch;
ungrasp; move up one inch; and return to start location.
The SCARA Selective Compliant Assembly Robot Arm or Selective Compliant Articulated Robot
Arm is widely used for operations “pick-place”. The robot was called Selective Compliance Assembly Robot
Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes
in the XY-axes.
By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y
direction but rigid in the ‘Z’ direction, hence the term: Selective Compliant. This is advantageous for many
types of assembly operations: pick-place, inserting a round pin in a round hole without binding.
The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms,
hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then
retract or “fold up” out of the way. This is advantageous for transferring parts from one cell to another or for
loading/ unloading process stations that are enclosed.
The SCARA robots are generally faster and cleaner than comparable Cartesian systems. Their single
pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other
hand, SCARA's can be more expensive than comparable Cartesian systems and the controlling software
requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA
though and is usually transparent to the end-user.
In this work, 4 axes« R-R-P-R » robot systems for operation pick and place will be designed and
developed using Solidworks program as shown in figure 1, and modeled by Matlab/Simulink as shown in
figure 2.Simulation by using MATLAB/Simulink software will be carried out. The Results of both sofwares

IJRA Vol. 3, No. 4, December 2014: 221 – 233

IJRA ISSN: 2089-4856  223

will be presented and discussed. In the paper, the equations of kinematics for « R-R-P-R » robot with the
robot dynamics for each joint were developed with D-H formulation.
The paper is organized as follows: First, an introduction to SCARA robot, kinematics ispresented in
section 2. In section 3, the dynamic behavior.In section 4,the application. Sections 5, 6 and 7, the dynamics
simulation, discussion and conclusion respectively and followed by the the references.

Figure 1. SCARA robot modeled by Solid Works Figure 2. SCARA robot modeled by Matlab/Simulink

Previous Work
The previous work [1] [2] studied the dynamic of this robot by using N-L method, but this method is
not commonly used for real time control as its need large amount of computation time and space, and the
study of the dynamic behavior is done for path created by the joint space, this last does not give the desired
trajectories like (straight line, circle,..).

Present Work
The present analysis of this robot is carried out to study the dynamics behavior for a straight line
(rest to rest path) by using N-E method. The significance of this study lies in the fact that it gives insight into
the dynamic behavior of this robot.
The direct kinematics allows us to find the relationship between the angular displacement and the
position of the end-effector, the inverse kinematics allow us to connect between two positions by a straight
line (rest to rest path).
SolidWorks and Matlab Simulink softwares are used to model and check the robot motion
simulation.

2. ROBOT KINEMATICS

2.1 Direct Kinematics

The Denavit-Hartenberg (D-H) parameters for SCARA robot shown in Fig1are defined in table:

Table 1. D-H parameters of SCARA Robot.

Link ai i di i
1 l1 0 0  1*
2 l2 0 0  2*
3 0 0 d 3* 0
4 0 0 d *
4  4*
*: joint variables
0
The expression for the end effector frame relative to the base frame is given by the arm matrix ( T4 ) as:

Dynamic Behavior of a SCARA Robot by using N-E method for a Straight Line … (Brahim Fernini)
224  ISSN: 2089-4856

T40  T10T21T32T43 , where:

c1 s1 0 l1c1   c2  s2
0 l2 c2  1 0 0 0  c4 s4 0 0 
s c 0 l s  s  0 1 0 0  3  s4 c4 0 0 

c2
0 l2 s 2  2 
T10   1 1 1 1
T21   2 T3  T 
0 0 1 0  0 1 0 
0  0 0 1  d 3  4  0 0 1 d 4 
       
 0 0 0 1 , 0 0 1 ,
0 0 0 0 1  , 0 0 0 1 
After multiplication and use of addition matrices, one gets the homogeneous transformation matrix;
 c124  s124 0 l1c1  l2 c12 
s c124 0 l1 s1  l2 s12 
T40   124
 0 0 1 d3  d 4 
 
 0 0 0 1 .

2.2 Inverse Kinematics

2.2.1 Inverse Solution for Positions

Desired location of Robot:
 nX oX a X p X 
 
n oy a y p y 
THR   y
 nz oz a z p z 
 
 0 0 0 1 
The final equation representing the robot is [3]:
T40  THR
We get:
pX  l1c1 l2c12 , py  l1s1  l2s12 .
By using Kramer methods we find [4];
Equation of elbow up:
s2 ,  p x l2 s2  p y (l1  l2 c2 )
2  a tan 1  a tan
c2 p x (l1  l2 c2 )  ( p y l2 s2 )
Equation of elbow down:
s2 ,  p x l2 s2  p y (l1  l2 c2 )
2  a tan 1  a tan
c2 p x (l1  l2 c2 )  ( p y l2 s2 )
Inverse solution for velocity:
P c  P s  P (l c  l c )  Py (l1 s1  l2 s12 )
1  X 12 y 12 2  X 1 1 2 12
l1s2 l1l2 s2
Inverse solution for acceleration:
(P s  P c )  (P  s )  l c  
 c  P  s  P
(P  c )l (P  s  P
 c )l 
2  
x 12 2 
1  X 12 y 12 12 X 12 y 12 1 2 1 2 y 1 x 1 1 y 12

l1s2 l1l2s2
(Py c1  Px s1 )l11  (PX s12  Py c12 )l212  l1l2c222 

l1l2 s2

3. ROBOT DYNAMICS
We find the dynamics equations of motion of robots by two methods:
Newton-Euler and Lagrange. The Newton-Euler method is more fundamental and finds the dynamic
equations to determine the required actuators’ force and torque to move the robot, as well as the joint forces.
Lagrange method provides only the required differential equations that determine the actuators’ force and
torque. [5]
The N-E method is based on two recursions forward and backward recursive equations. The forward
recursive equation is used for the kinematics information such as velocities and accelerations at the center of
mass of each link. The backward recursive equation is used for the forces and moments exerted on each link
from the end effector to the base of the robot.

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IJRA ISSN: 2089-4856  225

The rotation matrices are as follows:

 C1  S1
0  C2  S2 0   C4  S4 0  1 0 0
 , 1  , 3  , 2  
R  S1
1
0
C 1 0  R2   S 2 C2 0  R4   S 4 C4 0  R3   0 1 0 
 0 1   0 0 1   0 0 1  0 0 1
 0    
 C12  S12 0  0  C  S 0   C S 0 
 , R  R2 , 0 
124 124 1 1
 ,  
0
R20   S12 C12 0  3 R4   S124 C124 0  R01   S1 C1 0 
 0 1   0 1   0 0 1 
 0  0 
 C2 S2 0   C12 S12 0 
 ,  
R12   S2 C2 0  R02    S12 C12 0 
 0 0 1   0 0 1 
 
R03  R02 , P1*  l1C1 , l1S1 , 0T , P2*  l1C12 , l1S12 , 0T , P3*   0, 0, d3 T
P4*   0,0,0 , 0 
0 V0  0 , V0   0,0, g T
T

Forward recursive:
 
R011  R01  0  Z 01   0 0 1 1
T

R 2  R  R   Z     0 0 1    
2 2 1 T
0 1 0 1 0 2 1 2

R033  R  R     0 0 1    
3 2 T
2 0 2 1 2

R04 4  R34 R03 3  Z 04  

 0 0 1
T
 1  2  4 
R011  R01  0  Z 01  0  Z 01 

  0 0 1 1
T

R02 2  R12  R011  Z02   R011   Z02 

  0 0 1 1  2
T
 
R03 3  R23  R02 2    0 0 1 1  2
T
 
R  4  R34  R033  Z04   R033   Z04 
4
0

  0 0 1 1  2  4

T
 
R01V1   R011    R01 p1*    R011  

 R011    R01 p1*    R01  R01V0   l112 , l11 , g 

T

   
2 2
   
R0 V2  R0  2  R0 p2  R0 2
2 *
  2

  R     R p    R  R V 
2
0 2
2
0
*
2 1
2 1
0 1

 
T
l  S  l  2C  l    2 , 
 
1 1 2 1 1 2 2 1 2

 2 1  2 1 1 2 1 1 2
l     l  2 S  l C , g 

3
0 3  3
2 
R V  R Z 03  R02V2   R03 3    R03 p3* 

  2  R     R Z   
3
0 3
3
2 0 3

 R    R     R p  
3
0 2
3
0 3
3
0
*
3

 R  R V    R     R p  
3
2
2
0 2
3
0 3
3
0
*
3

R    R     R p  
3
0 3
3
0 3
3
0
*
3

    , 
T
l  S  l  2C  l 2


1 1 2 1 1 2 2 1 2

l C  l  2 S  l
1 1 2 1 1 2 2     , g 
1 2

Dynamic Behavior of a SCARA Robot by using N-E method for a Straight Line … (Brahim Fernini)
226  ISSN: 2089-4856

0 4   R04   R0 p4 
4
RV 4
 4 *

 R044   R044   R04 p4*  

R34  RV
0 3
3

  
T
l S l 2C l   2 C    S , 
 1 1 24 1 1 24 2 1 2 4 1 2 4   
 
  2

l11C24 l112S24 l2 1 2 S4  1 2 C4 , g

  
The position of center of mass:
e1   l1C1 / 2, l1S1 / 2, 0
T

e2   l2C12 / 2, l2 S12 / 2, 0

T

e3   0,0, d3 / 2
T

e4   0, 0, 0
T

R01a1   R011    R01e1    R011    R011    R01e1 

  R01V1   R01V1  l112 / 2, l11 / 2, g 

T

R02a2   R022    R02e2    R022    R022    R02e2  

  R02V2   R02V2

 
T
l S  l 2C  l   2 / 2, 
 
1 1 2 1 1 2 2 1 2


l C  l 2S  l   / 2, g 
1 1 2 1 1 2 2 1 2  
R0 a3   R03    R0 e3    R03    R033    R03e3  
3 3
 3 3

  R03V3   R03V3

 
T
l  S  l 2C  l    2 , 
 
1 1 2 1 1 2 2 1 2

 1 1 2 1 1 2 2 
l C  l 2 S  l    , g 
1 2  
R04a4   R044    R04e4 

  R044    R044    R04e4 

  R04V4   R04V4

  
T

4 1 
l  S  l 2C  l    2 C     S , 
 1 1 24 1 1 24 2 1 2 2 4  
 

2
 2

l11C24  l11 S24  l2 1  2 S4  1  2 C4 , g 

  

Backward recursive:
We have: f5  n5  0
R04 f4  R54  R05 f5   m4R04a4  m4R04a4

 
T
l S  l 2C  l   2 C    S , 
 1 1 24 1 1 24 2 1 2 4 1 2 4    
 m4  
2
l11C24  l112S24  l2 1 2 S4  1 2 C4 , g 
 
   

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R03 f3  R43  R04 f 4   m3 R03a3

    , 
T
l  S  l 2C  l 2

  m3  m4  
1 1 2 1 1 2 2 1 2

l C  l 2 S  l
1 1 2 1 1 2 2     , g 
1 2

R02 f 2  R32  R03 f3   m2 R02 a2

   
T
 x l  S  l  2C  yl    2 , 
 
1 1 2 1 1 2 2 1 2

 
  
 x l11C2  l11 S 2  yl2 1  2 , xg 
2

R01 f1  R21  R02 f2   m1R01a1
T
l 2  x  m / 2  yl   2 C 
 1 1 1 2 1 2 2

 
    S ,
 1 2 2  


 
l11  x  m1 / 2
 
 
,  x  m1  g 


 2
 

 yl2 1  2 S2  1 2 C2 




x  m2  m3  m4
y  m2 / 2m3  m4
The moments exerted on the links:
R04 n4  R54  R05 n5   R05 p4*    R05 f 5  

  R04 p4*  R04 e4    m4 R04 a4   J 4 R04 4

  R044   J 4  R044  

Ji  R0i Ii Ri0
i  1, 2, 3, 4
Generally, the mass and the length of link (4) are very small in comparison to other links; the inertia of link
(4) is evaluated to be zero.
R04n4  0
R03n3  R43  R04 n4   R04 p3*    R04 f 4  

  R03 p3*  R03e3    m3 R03 a3   J 3 R03 3

d3  m2  m4  
  R033   J 3  R033     
m3l3 / 2 
 
T
l11C2  l112 S2  l2 1  2 , 
 

 l  S  l  2C  l    2 , 0 
 1 2 2 1 1 2 2 1 2  

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228  ISSN: 2089-4856

R 0
2
n 2  R 3
2
 R

3
0 n R p  R
3  3
0
*
2
3
0 f3  
 R 0
2
p *
2  R 0
2
e 2  m R a   J 2 0
2
2 2 R 0
2
 2

  R 2
  J  R   
2
 0 2 2 0 2

  
T
 l 1 1 C 2  l 1  1 2 S 2  l 2 1  2 
 

 , 


 l 1 2 S 2  l 1  1 2 C 2  l 2  1    2  
2
 
 l2 g y ,


 l 2 y l 1 1 C 2  l 1  1 2 S 2  l 22  1  2

   

  d 2  m 3  m 4   d 3  m 3  m 4   m 3 l3 / 2
  m2 / 3  m3  m4
R 1n1  R 1
0
R
 0
2
n2  R 0
2
p 1*  R 0
2
f2  
 R 1
0  m R
p 1*  R 01 e 1 1
1
0 a  1

 J R     R    J
1
1
0 1
1
0 1 1  R    1
0 1

  l   l     C  

  1 1 2 1 2 2  
   l2 g y S 2 ,
  l     S
 2 
 2 1 2 2  
  l   l     S 
 
 
2
2
C 2  l2   2 
  1 1 2 1 2 2 1

  l2 g  x  y C 2  m 1 / 2 , 
 
   l 12  x  m 1 / 3   l 22   2 l 1 l 2 C 2 y  1 
 
  
    l 22   l 1 l 2 C 2 y  2  l 1 l 2 S 2 y  2 2 1   2
    

The joint torque of link (1):
 l 12  x  m 1 / 3  
 R 01 Z 0 
T
 1   R 01 n 1     1
  l 2   2 l1 l 2 C 2 y
2

 l 2
2   l1 l 2 C 2 y  2  l 1 l 2 S 2 y  2 2 1  2  
The joint torque of link (2):
R Z 0    l1l2 yC 2  l22   1  l22  2  l1l2 yS 212
T
 2   R 2 n2  1
2

The force exerted on the link (3):

R Z 0    m 3  m 4  g  m eff g
T
F3  R03 f 3  3
2

4. APPLICATION:
Consider a rest-to-rest Cartesian path from point (1.5, 1) to point (1.5,-1) on straight line x=1.5
during 1s with l1  l2 1.A cubic polynomial can satisfy the position and velocity constraints at initial and
final points.
y(0)  y0 1 y(0)  y0  0
y (1)  y f   1 y (1)  y f  0
The coefficients of the polynomial are:
a0 1 a1 0 a2 6 a3 4 ;
The Cartesian path is :
y ( t )  1  6 t 2  4 t 3 x  1.5
The trajectory simulation:
For the trajectory simulation we use elbow down and elbow up.
The figure shows the simulation block to simulate the trajectory by inverse kinematics of SCARA robot.

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IJRA ISSN: 2089-4856  229

Figure 3. The trajectory generation of a SCARA robot with Matlab/Simulink by using inverse kinematics

Trajectory simulation:
Elbow down

Figure 4. Matlab/Simulink Figure 5. Solidworks

Elbow up

Figure 6. Matlab/Simulink Figure 7. Solidworks

Dynamic Behavior of a SCARA Robot by using N-E method for a Straight Line … (Brahim Fernini)
230  ISSN: 2089-4856

The Trajectory obtained whether by using Solid Works or by MATLAB/Simulink is exactly the
same (a straight line), so the position constraint is verified at initial and final points.
The joint velocity of the robot by Matlab/Simlink:

0.5 2
elbow down
elbow down
1.5 elbow up
0 elbow up

1
joint velocity (rad/sec)

-0.5

joint velocity(rad/sec)
0.5

-1
0

-1.5 -0.5

-2 -1

-1.5
-2.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(sec) -2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(sec)

Figure 8. The joint velocity(1) Figure 9. The joint velocity(2)

The angular velocity of the links of robot by Solidworks:

Elbow down

131 131
angular velocity (deg/sec)

99 99
angular velocity (deg/sec)

66 66

33 33

0
0
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
time (sec) time (sec)

Figure 10. Link (1) Figure 11. Link (2)

Elbow up:

131 131
A ngular Ve locity5 ( deg/sec)
Angular Velocity4 (deg/sec)

99 99

66 66

33 33

0
0
0.000.100.200.300.400.500.600.700.800.901.00 0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
Time (sec) Time (sec)

Figure 12. Link (1) Figure 13. Link (2)

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The results obtained by the two softwars Matlab/Simlulink and Solidworks about the joint velocity and the
angular velocity show us that the velocity constraint is verified at initial and final points by the two
softwares,
The similarity of results of both softwars Solidworks and Matlab/Simulink confirms the reliability of the
kinematic model. The SCARA robot achieved a straight line motion between two positions with respect the
constraints position and velocity.

0.8

0.6

0.4

0.2
Y(m)

-0.2

-0.4

-0.6

-0.8

-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
X(m)

Figure 14. Arbitrary change of the two links of SCARA robot (elbow up and elbow down)

Orientationof thehomogeneous transformation matrix:

Y
Y
-0.1
-0.6
-0.2

-0.8 -0.3

-0.4
-1 Z
-0.5
Y (m )
Y (m )

-1.2 -0.6

-0.7
-1.4 -0.8

-0.9
-1.6
-1 Z
-1.8 -1.1
X X
1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 1.4 1.6 1.8 2 2.2 2.4 2.6
X(m) X(m)

Figure 15. Elbow up Figure 16. Elbow down

Dynamic Behavior of a SCARA Robot by using N-E method for a Straight Line … (Brahim Fernini)
232  ISSN: 2089-4856

5. DYNAMIC SIMULATION:
400

Link(1) elbow down

300 Link(2) elbow down
Link(1) elbow up
link(1) elbow up
200
Trquevariations (N.m)

100

-100

-200

-300

-400
0 0.2 0.4 0.6 0.8 1
time (sec)

Figure 17. The torque variations.

6. DISCUSSION:
The dynamic equations found by N-E method show that there is no coupling between the link2 and
the link3 because the link3 has only motion in vertical direction and there is no torque acting for this link
there is only a force to achieve the vertical motion. For these reasons the effective mass can be added to the
link1 and the link2 while determining the torques. This fact is clear from the torque equations. And it’s found
the torques are independents of angular positions and this makes the robot very compliant. Another fact that
the joint torques are independent by the lengths of link3 and 4,they are dependent only by their masses as
shown the torque equations.
The torques time analysis for SCARA robot is carried out taking the link masses of link 1, link2,
effective mass are: 16.92Kg, 16.92Kg, 2Kg respectively .The fig.17 illustrates the variations of torques with
time of elbow up and elbow down. It’s found the magnitude of the torque of link 1 is higher than the torque
requirement for link 2. There is an increasing difference in the two torques as time increased for elbow up
and elbow down.
The following table shows the torques value at T=0s and T=1s.

Table 2. The torque values at T=0s and T=1s for elbow up and elbow down
Elbow up Elbow down
Time(sec) Torque Torque Torque Torque
(N.m) Link1 (N.m) (Link2) (N.m) (Link1) (N.m) (Link2)
T=0s -116.0985 -83.5574 -362.0553 -66.9041
T=1s 362.0553 66.9041 116.0985 83.5574

The torques of link1 and link2 of elbow down are symmetric with the torques of link1 and link2 of elbow
down respectively, this fact is clear from the results of the table2 and the figure 17.
The results obtained from the table2 and accordingly the figure 17 show that energy consumption is the same
for elbow up and elbow down for this operation, in which means elbow up and elbow down swept the same
area as shown in figure 14.

7. CONCLUSION
The use of both softwares SolidWorks and Matlab/Simulink permitted to us to qualitatively develop
and highlight the relevance of the studied of the kinematic model of SCARA robot.
From the dynamic model by using N-E, it’s found that the effective mass can be added to the link1 and the
link2 while determining the torques, and there is no coupling between link 3 and link2.Another fact the
torques are independents of angular positions and the masses of link3 and link4 and this makes the robot very
compliant.

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IJRA ISSN: 2089-4856  233

In our case, we can conclude depending from the dynamic analysis by N-E the choice of elbow
down or elbow up is the same for this operation “pick-place” with straight line while respecting the
constraints, because the final energy balance is the same.

REFERENCES
[1] Mohamed Salah Khireddine and Abdelhalim Boutarfa, Reconfigurable Control for a SCARA Robot using RBF
Networks, Journal of Electrical Engineering, VOL. 61, NO. 2, 2010, 100–106.
[2] Philip Voglewede, Anton H.C. Smith, and Antonello Monti Dynamic Performance of a SCARA Robot Manipulator
With Uncertainty Using Polynomial Chaos Theory, IEEE Transactions on Robotics, Vol. 25, No. 1, February 2009.
[3] Z. Robot modeling and control, JOHN WILEY & SONS, INC. New York, Chichester, Weinheim, Brisbane,
Singapore, Toronto, page 97.
[4] Brahim Fernini, Mahmoud Gouasmi, M’hamed Meghatria, Kinematic Modeling and Simulation of a 2-R Robot by
Using Solidworks and Verification by Matlab/Simulink. International Journal of Advanced Robotic Systems.
[5] Reza N Jazar, Theory of applied robotics, Kinematics, Dynamics, and control, second edition springer, path
planning, ISBN 978-1-4419-1749-2.

Dynamic Behavior of a SCARA Robot by using N-E method for a Straight Line … (Brahim Fernini)