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Programming a SCARA Robot for a

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2014 ASEE Annual Conference & Exposition


Indianapolis, Indiana

Publication Date

June 15, 2014

Start Date

June 15, 2014

End Date

June 18, 2014



Conference Session

Instrumentation Division Technical Session 1

Tagged Division


Page Count


Page Numbers

24.1011.1 - 24.1011.19



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Paper Authors


Akram Hossain Purdue University Calumet (College of Technology)

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Akram Hossain is a professor in the department of Engineering Technology and Director of the Center for Packaging Machinery Industry at Purdue University Calumet, Hammond, IN. He worked eight years in industry at various capacities. He is working with Purdue University Calumet for the past 24 years. He consults for industry on process control, packaging machinery system control and related disciplines. He is a senior member of IEEE. He served in IEEE/Industry Application Society for 15 years at various capacities. He served as chair of manufacturing Systems Development Applications Department of IEEE/IAS. He authored more than 25 refereed journal and conference publications. In 2009 he as PI received NSF-CCLI grant entitled A Mechatronics Curriculum and Packaging Automation Laboratory Facility. In 2010 he as Co-PI received NSF-ATE grant entitled Meeting Workforce Needs for Mechatronics Technicians. From 2003 through 2006, he was involved with Argonne National Laboratory, Argonne, IL in developing direct computer control for hydrogen powered automotives. He is also involved in several direct computer control and wireless process control related research projects. His interests are in the area of industrial transducer, industrial process control, modeling and simulation of Mechatronics devices and systems, wireless controls, statistical process control, computer aided design and fabrication of printed circuit board, programmable logic controllers, programmable logic devices and renewable energy related projects.

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Md. Jubair Hossain Purdue University Calumet

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Currently I am working on my masters degree in Purdue University Calumet. My major is Mechatronics. I had worked in some machine assembling & manufacturing company for industrial automation. In Purdue, I worked with Scara robot in lab for a project, from there I gain some knowledge in programming Scara robot. This is my first publication.

M.S. Engineering Technology, Purdue University Calumet , (currently working)
B.S Electrical & Electronic Engineering , CUET , Bangladesh, August 2010

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Mafruha Jahan Purdue University Calumet (Engineering)

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PROGRAMMING A SCARA ROBOT FOR A MANUFACTURING CELL TO ASSEMBLE AND PRODUCE MEDICAL DEVICESAbstract:This paper focuses on a single cell manufacturing machine setup that can be programmedaccording to requirements to perform certain processing functions. Manufacturing cell operationdepends on parts to be assembled. The Primary target of this manufacturing cell is to glue threeparts together to produce small medical device with limited human intervention. There are threedifferent trajectory actions required to completely assemble the part. This research paper talksabout how to program a low-cost Scara robot for the manufacturing cell which performs multiplesequential operations to produce the device.First operation is to glue part “A” and part “B” together to produce a part „AB”. The secondoperation is the glue drying time of part “AB”. The third operation is to glue part “C” to part“AB”. The forth operation is to dry part “ABC”. Since there is minimum trajectory activityduring the glue drying process, a buffer of part “AB” is created to utilize that time. By utilizingthe glue drying time the buffered part “AB” gets ready for the third operation. This means that assoon as the buffer part “AB” has been dried, the robot performs its third operation that is joiningthe part “C” with the dried buffer part “AB”. Then the robot performs again its 1st and 3rdoperation sequentially. Although, a minimum robot trajectory activity is required during thefourth operation of glue drying of part “ABC, nevertheless it is a required step for the completepart assembly. In this way the process is maximizing its throughput and minimizing theproduction cycle time.For multiple part-type operation in this single-machine cell, we provide an efficient algorithmthat simultaneously optimizes the robot move and part sequencing operation. The result of thisresearch paper is promising for creating small and compact manufacturing cells.

Hossain, A., & Hossain, M. J., & Jahan, M. (2014, June), Programming a SCARA Robot for a Paper presented at 2014 ASEE Annual Conference & Exposition, Indianapolis, Indiana. 10.18260/1-2--22944

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