Consideration of motions related to the application of the General Assembly led to the development of a simpler arm geometry for the General Assembly, called SCARA (Selective Compliance of Automatic Manipulator) geometry. Although all SCARA robots have the same geometric shape, the name SCARA has no geometric basis. The biggest actions of the conference include establishing the conference and completing the top of the conference. SCARA arm has two rotating joints on the horizontal plane, so it can reach any point on the horizontal plane and work on two concentric circles. At the end of the arm is a vertical link, which can be placed vertically so that the parts can put the tray on the assembly. A claw placed at the end of this month can rotate the longitudinal axis of this link, which is beneficial to control some directions of the horizontal plane. The position of the mechanical arm of the moving structure allows its endpoint to be at any position,
Three-dimensional space. The workspace of the robot)
In order to provide the right hand/final effect, the manipulator should have a wrist. Robot wrists usually provide the same three-dimensional rotation as human hands: rolling, pitching, yaw and rotation. The intersection of the three rotating axes of the wrist is called a spherical wrist. The advantage of these mathematical models is that they can calculate the wrist angle from their own position and direction and are solvable in space.
One problem in realizing the physical design of the spherical wrist is that it is difficult to fit all the components in the available space. The size of a person's wrist is small because muscle strength is located in the forearm, not the wrist. Wrist design is a complex task, involving conflicting goals. Ideal features of the wrist include:
small-scale
Close cooperation between shafts to improve mechanical efficiency.
The tool plate is close to the shaft to increase strength and accuracy.
Water-soluble mathematical model
There is no single workload.
Driving back allows teaching programming and playback.
Decoupling motion between three axes
The actuator is installed far away from the wrist to reduce the volume.
The path is controlled and powered by the final effect of the wrist.
Proposed tasks with commensurate powers
Solid housing.