Prototyping and Visualization Techniques of 3-axis SCARA Robot Using DOE and LabVIEW

摘要

This paper presents the prototyping technique for a 3-axis SCARA (Selective Compliant Assembly Robot Arm) using DOE (Design Of Experiment) and then proposes the visualization techniques of gain tuning for the robot using LabVIEW system. Specifically, the prototyping technique includes the optimal arm design of the robot by using DOE. In addition, the visualization technique is on how to show experimental gain (so-called parameter) tuning of an AC servo (joint) drive, in the form of Bode plot, by using the virtual (software) instrumentation characteristic of LabVIEW system, instead of a specialized hardware device such as DSA (Dynamic Signal Analyzer). Actual simulations and experiments have shown that the proposed prototyping and visualization techniques can improve the performance of both mechanical and control part for the 3-axis SCARA robot.