This document describes a project to design an autonomous manipulator to sort balls by weight using a SCARA robot. The manipulator will pick up balls from a specified area, weigh each one, and sort it into the corresponding tray based on its weight range. A Toshiba TH550 SCARA manipulator was selected for its circular work envelope, selective compliance, flexibility in the horizontal plane, and suitability for point-to-point movements. The specifications of the balls, manipulator dimensions, and end effector are provided.

1. WEIGHT BASED BALL SORTING
SCARA MANIPULATOR
Kosuru Sai Malleswar
Jayakrishnan TS
Nakka Abhinay Goud

2. PROBLEM STATEMENT
To design an autonomous manipulator which can
 Act on a specified area
 Sort objects based on their weights.
 Relocate them to a specified location.
 Repeat the cycle

3. FUNCTIONALITY
 Move the end effector to a specific location to pick up the
ball
 Put the ball on the weighing machine/ weight feedback
system
 Decide the range of the weight to which the ball belongs
Ranges:
 below 56 grams
 between 56 grams and 59.4 grams
 above 59.4 grams
 Pick up the ball from weighing machine and put into the
corresponding tray.

4. CONCEPTUAL DESIGN

5. WHY SCARA ???
 SCARA has circular work envelope.
 The selective compliant feature of the SCARA
robot
 Flexibility in the horizontal plane.
 Faster and more precise performance
 Best suited for point-to-point movements
 SCARA robots tend to have small bases

6. SPECIFICATIONS
 The size of the balls: ~ 6.7 cm (2.63 in.) in diameter.
 The weight of the balls: 50g to 65g
 The height of the stand: 0.5 m
 The length of first revolute link: 0.3 m
 The length of second revolute link: 0.2 m
 The length of the prismatic link: 0.4 m
 The work space of the manipulator: Cylindrical annulus
 Minor radius = 0.1m
 Major radius = 0.5m
 Height = 0.5m

7. SPECIFICATIONS
The end effector
 The length of each jaw of the
parallel gripper: 10 cm
 The gap between the jaws: varies
depending on ball size (range : 5
cm to 8 cm)
 The width of each jaw:2.5 cm
EVG 2-Finger Parallel Gripper:
A sensitive touch with adjustable length

8. POSSIBLE COMMERCIAL MODELS
Jupiter SCARA Servo Robot System -830 -RJ1-A Toshiba SR-1204HSP

9. SELECTED COMMERCIAL MANIPULATOR
TOSHIBA TH550 SCARA MANIPULATOR

10. SPECIFICATIONS OF THE SELECTED ONE

11. SPECIFICATIONS OF THE SELECTED ONE

12. SPECIFICATIONS OF THE SELECTED ONE

13. WEIGHT BASED BALL SORTING
SCARA MANIPULATOR

14. THANK YOU