SCARA
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The SCARA is a type of industrial robot. The acronym stands for Selective Compliance Assembly Robot Arm[1] or Selective Compliance Articulated Robot Arm.[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 Compliance. 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 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 or unloading process stations that are enclosed. Bf>
Animations
Source: [3]
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Direct kinematics of a SCARA robot -
Inverse kinematics of a 5R parallel robot -
Direct kinematics of a 5R parallel robot
See also
References
- ^ "SCARA Robots - Fanuc". www.fanuc.eu. Retrieved 2021-05-27.
- ^ "The Robot Hall of Fame - Powered by Carnegie Mellon University". www.robothalloffame.org. Retrieved 2021-05-27.
- ^ 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.
External links
- 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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