#Scara robot working pdf plus
#Scara robot working pdf series

SCARA robots with larger work envelopes have larger footprints because of the increased motor and base sizes needed for stability. Typically, SCARAs have a smaller footprint than Cartesian or Delta robots with the same reach. The footprint is the space where the SCARA robot mounts. When cycle time is critical, consider a SCARA solution. This simplifies inverse kinematic calculations, requiring less computational time. With four axes, they have less moving joints and are configured so that J1 and J2 control the X-Y motion, and J3 and J4 control the Z and rotation motion. Speed is an important factor when choosing a robot, and SCARAs are typically one of the fastest on the market. Understanding payload requirements is important - if a small robot can do the job, there’s no need to take up valuable floor space with a larger model. Most robot manufacturers have at least two variants of SCARAs to accommodate different payloads and inertias.

#Scara robot working pdf plus

The weight and inertia of the end-effector plus the part determines the maximum payload and inertia requirements, which must fall within the robot’s operating specifications. It could be a simple gripper or a multi-purpose end-of-arm-tool with dispensers or screwdrivers.

In most applications, robots perform assembly or pick and place operations, which require an end-effector. The back area may not be useable if cables and pneumatic hoses exit from the rear - some SCARAs offer optional bottom exits – making it possible to work behind the robot. In most applications, a SCARA’s work envelope is contained to the front and side.

#Scara robot working pdf series

(See FANUC SCARA Work Envelope) FANUC SR Series SCARA Robot Work Envelope The total lengths of arms one and two define the diameter of the circle, while the Z stroke defines the depth of the cylinder. Typically, SCARA robots have a cylindrical shaped work envelope with variations in the diameter and depth of the cylinder. Whether SCARA, Delta Robots, or six-axis robots, the lengths of various links, and the limitations of the joint motion are important factors to review. The work envelope or the area of space that a robot can physically reach is a critical consideration. In addition, for robotic dispensing applications, a SCARA can pick parts and present them to a dispenser, or the dispensing tool can be attached to the robot’s shaft. Screw driving applications are also great for SCARA robots, where the rotation axis can easily drive screws. Most pick and place and small assembly applications that involve moving a part from point A to point B are perfect for SCARA robots because this typically involves relocating the part in X-Y-Z with some rotation in the Z-axis. SCARAs are four-axis robots, with motion in X-Y-Z and a rotational motion about the Z- axis.Ī SCARA robot lacks the pitch and yaw motion of six-axis robots, so in applications where pitch and yaw is required, there are mechanisms that can be added to achieve the additional axis motion as long as the SCARA can accommodate payload requirements. For a robot, the number of joints, joint location and the axis each joint controls determines its degree of freedom. SCARA Robot - ArticulationĪrticulation is the type of motion and degrees of freedom required by the application. Using this guideline will make the choice easier. There are several factors to consider when selecting the right robot for your application. The final X-Y location at the end of arm two is a factor of the J1 angle, J2 angle, length of arm one and length of arm two. Two independent motors use inverse kinematics and interpolation at joints J1 and J2 to control the SCARA’s X-Y motion. The SCARA’s structure consists of two arms joined at the base and the intersection of arms one and two.

The SCARA configuration is unique and designed to handle a variety of material handling operations. SCARA is an acronym for Selective Compliance Articulated Robot Arm, meaning it is compliant in the X-Y axis, and rigid in the Z-axis. SCARA robots are a popular option for small robotic assembly applications.