What Is a SCARA Robot?
SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, which means a robot arm applied to assembly operations. It has 3 swivel joints and is best suited for planar positioning.
SCARA
- Chinese name
- Choose a compliant assembly robot arm
- Foreign name
- Selective Compliance Assembly Robot Arm
- Short name
- SCARA
- Types of
- Industrial robot
- Link
- DELTA robot
- SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, which means a robot arm applied to assembly operations. It has 3 swivel joints and is best suited for planar positioning.
- SCARA robot arm
- The SCARA robot has 3 rotating joints, whose axes are parallel to each other, and are positioned and oriented in the plane. The other joint is the moving joint, which is 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 displacements 1 and 2 of the two rotating joints and the displacement z of the moving joint, that is, p = f (1, 2, z), as shown in the figure. The structure of this type of robot is light and fast. For example, the Adept1 SCARA robot can move at a speed of 10m / s, which is several times faster than the ordinary articulated robot. It is most suitable for plane positioning and vertical assembly operations. [1]
- In 1978, Yoko Makino of Yamanashi University invented SCARA. The robot has four axes and four degrees of freedom (including translation in the X, Y, and Z directions and rotational degrees of freedom about the Z axis).
- The SCARA system has compliance in the x and y directions and good rigidity 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 used in large numbers for assembly printing. Circuit boards and electronic components; Another feature of SCARA is its two-rod structure in series, similar to a human arm, which can be extended into a limited space to work and then retracted. It is suitable for moving and picking up objects, such as integrated circuit boards. .
- SCARA robots are also widely used in the plastics industry, automotive industry, electronics industry, pharmaceutical industry and food industry. Its main functions are moving parts and assembling. Its first and second axes have rotation characteristics, and the third and fourth axes can be made into a variety of different shapes according to the needs of the work, and one has rotation and the other has linear movement. characteristic. Due to its specific shape, its working range is similar to a sector area.
- SCARA robots can be manufactured in various sizes, the most common working radius is between 100 mm and 1000 mm, and the payload of such SCARA robots is between 1 kg and 200 kg.