Vous êtes sur la page 1sur 1

SCARA robots are specialized for high speed pick and place operations, meaning they are

meant for doing things like picking up parts from an assembly line and putting them in
boxes, or picking up microchips and inserting them in to circuit boards. They are very
fast and very accurate. Their kinematics are also trivial to compute; it is far easier the
derive the joint angles needed to position the end effector than it is for most other robot
designs.
Their primary shortcoming is that they lack end effector degrees of freedom- they can
only roll at the end effector, rotating around the vertical axis; they cannot pitch or yaw.
Therefore, they cannot be used for general purpose robotic manipulation tasks. They are
only meant to deal with parts that are lying flat in the workspace. See the diagram, which
should make this clear:

Note that the final link has to remain vertical. It can rotate, but only around the Z axis.
SCARA robots also tend to be fairly small; you won't see a SCARA robot operating on an
automotive assembly line, for instance. I believe this is because it is difficult to design a
SCARA such that the two horizontal links and the intermediate joint (joint 2 in the
diagram) can support heavy loads.

Vous aimerez peut-être aussi