Generally, robotic arms are applied to settled and repetitive processes or high-risk tasks. In recent years, the robotic arms combined with sensors are developed to support rapidly variable operations
gradually. This study was intended to investigate the integration of a SCARA robotic arm and a conveying system. The idea is to allow the robotic arm to pick
up an object accurately and place it at the predetermined location as the object is transported horizontally on a conveyor belt to approach the working range of the arm while the conveyor belt works independently. Two GS-2744B magnetic
sensors and MGL-50 magnetic strips were used in the system as the visual system and the switch to activate and deactivate the SCARA arm. A coordinate conversion algorithm was used to locate the origin of
the visual system and that of the robotic arm at the same location. The objects’ planar coordinates were calculated and transmitted to the arm through a RS232 interface. At the end of the arm an MCHB-32 parallel gripper was installed to snatch objects. The actual experiment shows that the arm travelled steadily with the conveyer belt and performed gripping at various conveyer speeds. When an object
to be identified was placed at a different location, the arm recognized and operated in a corrected angle.
Ultimately, the arm was able to track the object, grip and place it at the designated location, and a very stable result was achieved as the arm travelled along the predetermined path.
關聯:
International Journal of Computer, Consumer and Control (IJ3C), Vol. 4, No.4 (2015)
