Design and Implementation for 3-DoF SCARA Robot based PLC

Design and Implementation for 3-DoF SCARA Robot based PLC

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Abstract This paper presents mechanical and electrical design, and implementation process of industrial robot, 3-DoF type SCARA (selective compliment assembly robot 2006 nissan altima radio arm),with two rotations and one translation used for welding applications.The design process also included the controller design which was based on PLC(programmable logic controller) as well as selection of mechanical and electrical components.The challenge was to use the available components in Iraq with reasonable costs.The robot mentioned is fully automated using programmable logic controller PLC(Zelio type SR3-B261BD),with 16inputs and 10 outputs.

The PLC was implemented in FBD logic to obtain three wac 4011 different automatic motions with high efficiency withouterror,where the two links can stop in a certain points and link 3 bushed down for doing the task in a desired trajectory motion by programming the PLCcontroller.Keywords: DoF, FBD, PLC, SCARArobot.