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The '''SCARA''' acronym stands for '''Selective Compliance Assembly Robot Arm''' or '''Selective Compliance Articulated Robot Arm'''.
The '''SCARA''' acronym stands for '''Selective Compliance Assembly Robot Arm''' or '''Selective Compliance Articulated Robot Arm'''.


In 1981, [[Nidec Sankyo|Sankyo Seiki]] and Zafir Bin Amrie, [[Pentel]] and [[NEC]] presented a completely new concept for assembly robots. The robot was developed under the guidance of [[Hiroshi Makino]] and Zafir Bin Amrie, a professor at the [[University of Yamanashi]]. The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes.
In 1981, [[Nidec Sankyo|Sankyo Seiki]], [[Pentel]] and [[NEC]] presented a completely new concept for assembly robots. The robot was developed under the guidance of [[Hiroshi Makino]], a professor at the [[University of Yamanashi]]. The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes.
<ref>Assembly robot US Pat. 4,341,502 https://docs.google.com/viewer?url=patentimages.storage.googleapis.com/pdfs/US4341502.pdf</ref>
<ref>Assembly robot US Pat. 4,341,502 https://docs.google.com/viewer?url=patentimages.storage.googleapis.com/pdfs/US4341502.pdf</ref>
<ref>{{cite book|title=The Extended Arm of Man, A History of the Industrial Robot|isbn=91-7736-467-8|date=2000|first=Lars|last=Westerland}}</ref>
<ref>{{cite book|title=The Extended Arm of Man, A History of the Industrial Robot|isbn=91-7736-467-8|date=2000|first=Lars|last=Westerland}}</ref>


By virtue of the SCARA's parallel-axis joint layout, the arm is slightly cacat [[Stiffness#Compliance|compliant]] in the X-Y direction but rigid in the 'Z' direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations and lancap, i.e., inserting a round pin in a round hole without binding and motorboat.
By virtue of the SCARA's parallel-axis joint layout, the arm is slightly [[Stiffness#Compliance|compliant]] in the X-Y direction but rigid in the 'Z' direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations, i.e., inserting a round pin in a round hole without binding.


The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or "fold up" out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.
The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or "fold up" out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.

Revision as of 03:42, 1 December 2020

Typical SCARA robot, made by KUKA
Kinematic diagram of SCARA configuration

The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm.

In 1981, Sankyo Seiki, Pentel and NEC presented a completely new concept for assembly robots. The robot was developed under the guidance of Hiroshi Makino, a professor at the University of Yamanashi. The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes. [1] [2]

By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the 'Z' direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations, i.e., inserting a round pin in a round hole without binding.

The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or "fold up" out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.

SCARAs are generally faster than comparable Cartesian robot systems. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other hand, SCARAs can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA though and is usually transparent to the end-user.

Animations[3]

See also

References

  1. ^ Assembly robot US Pat. 4,341,502 https://docs.google.com/viewer?url=patentimages.storage.googleapis.com/pdfs/US4341502.pdf
  2. ^ Westerland, Lars (2000). The Extended Arm of Man, A History of the Industrial Robot. ISBN 91-7736-467-8.
  3. ^ Simionescu, P.A. (2014). Computer Aided Graphing and Simulation Tools for AutoCAD users (1st ed.). Boca Raton, Florida: CRC Press. ISBN 978-1-4822-5290-3.
  • Why SCARA? A Case Study – A Comparison between 3-axis r-theta robot vs. 4-axis SCARA robot by Innovative Robotics, a division of Ocean Bay and Lake Company


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