SCARA (Selective Compliance Assembly Robot Arm) is a cylindrical coordinate type of special types of industrial robots.
SCARA robot has three rotating joints, the axes parallel to each other, the positioning and orientation in the plane. Another joint is the movement of the joint, for the completion of the end piece perpendicular to the plane of movement. Wrist position reference point by two rotary joints angular displacement φ1 and φ2, and movement of the joint displacement z decision, namely p = f (φ1, φ2, z), as shown in FIG. Such structural lightweight robot, fast response, such as Adept1 type SCARA robot movement speeds of up to 10m / s, faster than the average articulated robot several times. It is ideal for locating the plane, perpendicular to the direction of assembly operations.
The robot has four axes and four degrees of motion, (including along the X, Y, Z direction of the translational and rotational degrees of freedom about the Z axis).
SCARA system having the x, y direction of compliance, which has good stiffness in the Z-axis direction, this characteristic is particularly suitable for assembly work, for example, a needle is inserted into a round hole, so that a large number of first SCARA system for assembling printed circuit boards and electronic components; SCARA another feature is its concatenation of two structures, similar to the human arm can be inserted into the limited space of a job and then recover, suitable for moving and handling objects, such as circuit boards, etc.
Today, SCARA robots are widely used in the plastics industry, automotive industry, electronics industry, the pharmaceutical industry and the food industry and other fields. Its main function is to move to take part and assembly work. Its first shaft and a second shaft having a rotation characteristic, third and fourth axes may work according to different needs, producing a corresponding number of different forms, and having a rotatable, the other having a linear movement characteristic. Because of its particular shape, determine its scope of work is similar to a fan-shaped area.
SCARA robots can be made into a variety of sizes, the most common operating radius between 100-1000 mm, payloads such SCARA robot between 1-200 kg.