SCARA
The SCARA robot ( short for. Selective Compliance Assembly Robot Arm) is a special type industrial robot whose structure is similar to a human arm and is therefore also referred to as " horizontal articulated-arm ".
Structure and properties
A SCARA robot generally has four axles and four degrees of freedom. All axes are designed as a serial kinematics, ie the origin of the following axis, depending on the position of the preceding. At a SCARA robot, the first and second axis of rotational nature, the third and the fourth axis are often made of a device ( the ball screw ), and allow a rotational and a linear movement. The tool of the robot is mounted on the lower end of the Z-axis.
SCARA robots are available in different sizes - the range of the most widely used models may be between 100 mm and 1,200 mm. Robots of this type can handle payloads ranging from 1 kg to 200 kg.
The workspace of such a robot is due to his arm geometry typically kidney-shaped. Of course, the exact dimensions depend on the specific boundary conditions such as arm lengths, angles, etc. from.
Use
This type of robot was brought due to its quick and repeatable movement especially for so-called assembly and joining tasks, as well as for pick-and - place applications, in which a component of place ( a) on the space ( b ) (typical for handling and preparatory installation work ) developed. Its strength is the vertical joining with high joining forces ( partly > 300N ) without causing side " Dodge ". A disadvantage of the SCARA robot is that it can only handle on a work plane always because all the degrees of freedom are missing for non-plane- parallel surfaces. 6 -axis robot or suitable - For such applications are 5.
Manufacturer
- Germany Germany: KUKA robot
- Dürr AG
- RoTeg robot technology
- Bosch Rexroth
- Japan Japan: IAI
- Denso
- Epson
- Hirata
- Mitsubishi Automation
- MOTOMAN
- Yamaha Robotics
- Switzerland Switzerland: Stäubli AG took over the production of Bosch Rexroth.
- United States of America: Adept Technology