Abstract

In this paper, the solution of a 4-axis selective compliance assembly robot arm (SCARA) for picking and placing an IC component onto the PCB is presented along with the simulation results. The SCARA robot arm, known for its horizontal movement and accurate positioning, presents a versatile platform for assembly tasks in various industries, particularly in electronics manufacturing. The main goal is to get the forward kinematics equations required to precisely calculate the end-effector's location and orientation using the 4-axis SCARA robot arm's joint angles. The mathematical model explaining the link between the robot's joint variables and the position/orientation of the end-effector is developed by specifying the Denavit- Hartenberg (DH) parameters and using transformation matrices. The work intends to simulate and test the computed end-effector locations and orientations against experimental or simulated data using the obtained forward kinematics equations. The forward kinematics approach will be implemented using code developed as part of the project, enabling systematic investigation and testing of the pick-and-place capabilities of the SCARA robot. Additionally, it also provides a brief overview of the possible uses and consequences of using this SCARA-based solution for accurate and efficient assembly jobs in industrial settings. The incorporation of a graphical user interface (GUI) has the potential to enhance user engagement and aid in the real-time management and observation of the pick-and-place processes. By offering a methodical solution to the direct kinematics problem of a 4-axis SCARA robot arm for the purpose of picking and placing IC components onto PCBs, it advances robotic assembly technologies and highlights their potential to increase productivity and accuracy in manufacturing processes.