Development of a vision-based SCARA robot for parts sorting | |
| Author | Jayasekara, Hewagoda U.D.H. |
| Call Number | AIT Caps. Proj. no.ME-17-06 |
| Subject(s) | Robots--Kinematics Robot vision |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-17-06 |
| Abstract | The vision-based SCARA (Selective Compliance Assembly Robot Arm) manipulator for part sorting is developed in this research. SCARA is one of the three most extensively used robots in the industry for assembly tasks due to its high precision and inherent rigidity. The proposed SCARA has 3 degree of freedom (3-DOF) with two rotary joints and one prismatic joint (RRP) and parallel-jaw gripper has attached as an end effector to achieve pick and place tasks of the workpieces with basic geometric shapes. The kinematic model of SCARA is firstly developed using MATLAB. Then mechanical design process began with CAD mod- eling and CAE optimization. Vision system consists of image calibration, image recognition and object localization using Python based digital image processing techniques. In image calibration, the image is smoothed to remove distortions. Then using contour analysis, cen- ter coordinates of the parts placed on workplace is recognized from the captured image and sorted based on colour, shape and size. Once pick and place coordinates are determined, inverse kinematics analysis performed and joint angles are feed to the arm with PID position controller programmed on Arduino platform via serial communication. The validity of the developed robot is finally verified through experimental results. |
| Year | 2017 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-17-06 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Abeykoon, Harsha;Than Lin; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2017 |