Publication

Abstract : Robotics, the engineering science and technology of robots, involves the design, manufacture and application of robots. Nowadays soft robotics is replacing conventional robots especially in poultry and vegetable industries which involve interaction with fragile and delicate objects. The majority of the egg exports in India are managed by the poultry farms in the Namakkal district of Tamil Nadu. Also, India is one among the largest producers of vegetables in the world. Kerala, being a consumer state as far as vegetables are concerned, is fostering an organic farming revolution where automated farms are necessary. This paper discusses the design and analysis of a 4-axes RRPR SCARA robot with a specially designed end effector with rubber pads which could process and palletize the eggs and ultimately reduces the processing time and human labor. This design could also be used in handling vegetables which would lead to a rapid growth in automated farms. The design, analysis and the kinematics and dynamic aspects of the designed SCARA Robot along with the control design are provided in this paper. The developed design was found out to be stable and effective, even in overloaded conditions.