PDE 4905 - Engineering and Simulation - Simulink Model for SCARA Robot - Engineering Report Writing Assessment Answer

PDE 4905 - Simulink Model for SCARA Robot - Engineering Report Writing Assessment Answer

Assessment Task:

Brief

Create a Simulink Model for the SCARA robot depicted in figures 1 and 2. The motor specification is appended to this brief.

You will need to create a subsystem to model the motors taking into account that the inertia of Arms 1 and 2 combined is not a constant but depends upon the orientation of Arm 2

The inertial load experiences by motor 1 depend upon the position of the centre of mass of Arm 2 which varies with angle, a, in figure 2.

Task

Write a report describing your model and present results on a series of tests on the model. In your conclusions, present an evaluation of the model in the light of all assumptions made and what limitations they place on the model. Also, evaluate the robot based on the tests and present recommendations as to the suitability of the design and choice of motors.

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