SCARA
SCARA is an abbreviation for Selective Compliance Assembly Robot Arm, which means a robot arm applied to assembly operations. It has three rotating joints, which are most suitable for planar positioning.
introduce
SCARA (Selective Compliance Assembly Robot Arm) is a special type of industrial robot with cylindrical coordinates.
The SCARA robot has three rotating joints, with axes parallel to each other, and performs positioning and orientation in the plane. The other joint is a moving joint used to complete the movement of the end piece perpendicular to the plane. The position of the wrist reference point is determined by the angular displacement of the two rotating joints φ 1 and φ 2, and the displacement z of the moving joint, that is, p=f（ φ 1, φ 2,z)。 This type of robot has a lightweight structure and fast response. For example, the Adept1 type SCARA robot can move at a speed of up to 10m/s, which is several times faster than ordinary articulated robots. It is most suitable for planar positioning and vertical assembly operations.
origin
In 1978, Masano Yoshio of Yamanashi University in Japan invented SCARA, which has four axes and four degrees of freedom of motion, including rotation about the X, Y, and Z axes and translational degrees of freedom along the Z axis.
The SCARA system has compliance in the x and y directions, while it has good stiffness in the Z axis direction. This characteristic is particularly suitable for assembly work, such as inserting a round needle into a round hole. Therefore, the SCARA system is first widely used for assembling printed circuit boards and electronic components; Another characteristic of SCARA is its two rod structure connected in series, similar to a human arm, which can be extended into a limited space for operation and then retracted. It is suitable for moving and handling objects, such as integrated circuit boards.
Today, SCARA robots are also widely used in the plastic industry, automotive industry, electronics industry, pharmaceutical industry, and food industry. Its main function is to carry parts and perform assembly work. Its first and second shafts have rotational characteristics, while the third and fourth shafts can be manufactured into various shapes according to the needs of work, with one having rotational characteristics and the other having linear movement characteristics. Due to its specific shape, its working range is similar to a sector shaped area.
SCARA robots can be manufactured in various sizes, with the most common working radius ranging from 100 mm to 1000 mm. Such SCARA robots have a net load weight ranging from 1 kg to 200 kg.