Project:
SCARA Manipulator

Write a complete Technical report (no theory) that shows your work details:
The final typed report must be submitted in a technical format with proper references. The project
should discuss components selection/mechanical design, sensors and actuators/ electrical circuit/
electronics/ controller structure/ prototype verification procedure. It should include the following
parts:
I. ABSTRACT
The abstract is one paragraph (not an introduction) and complete in itself (no reference
numbers). It should indicate subjects in the report and state the objectives of the robotic system.
Readers should not have to read the report to understand the abstract.
II. INTRODUCTION
This section is an opportunity to present the background and motivation behind the project, and
the objective of the project. A brief summary of the project goal, robotics system
components/sensors/actuators/control/algorithm, constraint, procedures and the tasks to be
accomplished should also be presented here.
1. Objectives: state the aims of this robotics system and tasks/designs/
components/functions you want to achieve
2. Background Research: you should summarize recent work/publications/patent in the
field. 10 references minimum. Official websites are fine, also journal papers/patents to be
cited.
3. Goal Statement: state the main goal of the proposed design
4. Design criteria/Task Specifications: you have to state the main tasks to be
accomplished by the proposed design. Also what is the design criteria you followed.
5. Preliminary Designs : provide any proposed designs by your team and why you
selected the final design
III. SYSTEM COMPONENTS SELECTION
Talk about the robotics system components you have selected, and justify your selection for
(mechanical/sensors/actuators/electrical/controller/algorithm) and any related details of these
parts as drawings, dimensions, materials, assembly required, join types….etc.
1. Mechanical system design/analysis:
DH matrix, Euler angle transformation, Forward kinematics, velocity kinematics, acceleration
kinematics, inverse kinematics, dynamics model, Euler–Lagrange Equations
2. Sensor and actuators selection
3. Path and trajectory planning: Artificial Potential Fields/ Sampling-Based Methods
4. Control scheme/algorithm: PID control design and implementation
IV. ASSEMBLY AND INTERFACING STEPS
1. State all steps followed for project assembly
2. Any necessary interfacing circuits/welding/joining/communication
3. Cost Estimate – estimate the cost; document sources of prices
V. PROTOTYPE SIMULATION RESULTS
This section is to present a sample simulation runs of the prototype assembly/subsystems to
verify the operation of simulated prototype (component by component) based on project topics.
VI. DISCUSSION
Include the main implementation procedure and outcomes of the prototype results and how it’s
compared to the originally proposed system. Can you suggest any changes to improve the
design?
VII. CONCLUSIONS
The conclusions should be clear, concise, and should wrap up the project so the reader can easily
determine the overall summary of the project. Any recommendations for future/follow-on work
should go here.
VIII. REFERENCES
This is the section in which you list all sources referenced in the text. You should state at least 10
references. Of course, the reference number should appear in the text in the section in which it is
referenced. Examples would be:
[1] Cobalt 2.0 User’s Manual, Cobalt Solutions, LLC, Dayton, OH, 2003.
[2] Shang, J.S., and Scherr, S.J., “Navier-Stokes Solution for a Complete Re-Entry
Configuration”, AIAA Journal of Aircraft, Vol. 23, No. 12, December 1986, pp. 881-888.
IX. APPENDIX
COLLEGE OF ENGINEERING
DEPARTMENT OF MECHANICAL ENGINEERING
Course Name and code MEC 481: Introduction to Robotics
Instructor Dr. Mohammad Alkhedher
Project Title
Due date
Submission Date
1.
Submitted by:
2.
Student Name 3.
Student ID
Signature
4.