SCARA robots

SCARA robots

Schematic representation of the axis configuration of a SCARA robot

The SCARA robot (abbreviation for Selective Compliance Assembly Robot Arm ) is a special type of industrial robot whose structure is similar to a human arm and is therefore also referred to as a "horizontal articulated arm robot".

Structure and properties

A SCARA robot usually has four axes and four degrees of freedom . All axes are designed as serial kinematics , i. H. the origin of the coordinates of the following axis only depends on the position of the previous one. In a SCARA robot, the first and second axes are of a rotary nature, the third and fourth axes are often made from one component (the ball screw spindle ) and allow rotary and linear movement. The tool of the robot is mounted at the lower end of the Z-axis.

SCARA robots are available in different sizes - the range of the most popular models can be between 100 mm and 1,200 mm. Robots of this type can handle payloads ranging from 1 kg up to 200 kg.

The work area of ​​such a robot is typically kidney-shaped due to its arm geometry. The specific dimensions naturally depend on the specific boundary conditions such as arm lengths, angles, etc.

commitment

Due to its fast and repeatable movement, this type of robot was specially developed for so-called assembly and joining tasks as well as for pick-and-place applications in which a component is moved from one place to another. Its strength is the horizontal transport and vertical joining with rather low joining forces, without there being any “sideways movement”. A disadvantage of the Scara robot is that it can only work parallel to a working plane , since it lacks the degrees of freedom for surfaces that are not plane-parallel . 5 or 6-axis robots are suitable for such applications.

Manufacturer

•  Italy :
  • COMAU Robotics
• Germany:
  • ABB Robotics
  • ASYS Automatic Systems
  • Dürr AG
  • roTeg robot technology
  • Bosch Rexroth

• Japan:
  • IAI
  • Denso
  • Epson
  • Hirata
  • Mitsubishi Automation
  • MOTOMAN
  • Yamaha Robotics

• Switzerland:
  • Stäubli AG has taken over the production from Bosch Rexroth .
  • Metrohm AG -> Sample Robot (OMNIS platform)

• UNITED STATES:
  • Adept Technology
• China
  • KUKA AG

literature

• Alois Knoll, Thomas Christaller: Robotics . Autonomous agents. Artificial intelligence. Sensors. Embodiment. Machine learning. Service robot. Robots in medicine. Navigation systems. Neural Networks. RoboCup. Architectures. Fischer, Frankfurt 2003, ISBN 978-3-596-15552-1 .
• Wolfgang Weber: Industrial robots. Methods of control and regulation. With 33 exercises . Fachbuchverlag Leipzig, 2002, ISBN 978-3-446-21604-4 .

Web links

• Produktion.de : Delta robots in the fast lane?
• Functionality and area of ​​application of SCARA robots