Title: A primitive analysis of resonance frequency and stability simulation of a 2D SCARA drawing robot system for BCIs

Authors: Ellis Iver David; James Edward Rowe; Yeon-Mo Yang

Addresses: Electronics Engineering, Mapúa University, Muralla St., Intramuros, Manila, Philippines ' Mechanical Systems Engineering, Université de Technologie, de Troyes, France ' Department of Electronic Engineering, Kumoh National Institute of Technology, Gumi, Gyeongbuk, 730-701, South Korea

Abstract: In recent years, selective compliance assembly robot arm (SCARA) manipulators related to brain-computer interfaces (BCIs) have been gaining in popularity in industrial applications owing to their significant adaptability. One popular application concerns commercially available drawing robots. For example, the 'tip ring sleeve drawbot' by Hart and Ragan uses an audio output. Thus, WAV files with pulse width modulation are used to control the servomotors. After constructing a drawing robot prototype and analysing the impulses and responses, structural flaws were noticed in this particular design from the perspective of stability, limiting the quality of the final drawing. Indeed, the robot was designed to follow single-line paths, resulting in very sudden movements (e.g., 'stop-start' motions). This caused vibrations in the arm that were more noticeable at high speeds. To counter or mitigate the shaking of the robot arm, in this study, a kinematic model and stability simulation for a 2D (dimensional) SCARA drawing robot arm were constructed with the aim of improving the overall stability. The eventual aim was to find a model for describing the motions of all two-degree-of-freedom (DOF) rotational arm robots to allow for quick access or derivation of the optimal functional parameters of such robots.

Keywords: brain-computer interface; BCI; SCARA; drawbot synthesiser; stipple gen; travelling salesman problem; TRS; statistical signal processing; stability; transfer function; impulse response; IR; step response; SR.

DOI: 10.1504/IJCVR.2025.144771

International Journal of Computational Vision and Robotics, 2025 Vol.15 No.2, pp.137 - 151

Received: 26 Apr 2023
Accepted: 30 May 2023
Published online: 03 Mar 2025 *

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