SCARA ROBOT

Introduction
The SCARA acronym stands for Selective Compliance Assembly Robot Arm
or Selective Compliance Articulated Robot Arm.
• Scara is a type of Industrial robot.
• These robots are very intelligent with high working speed .
• There robot have higer accuracy than others robot .
• The first SCARA robot was created as a revolutionary prototype in 1978, in
the laboratory of Professor Hiroshi Makino, at Yamanashi University in
Japan.
• The 4-axis SCARA was designed as no other robot arm at the time. Its
simplicity was brilliant … with less motion it could do more, with high
speed and precision.
 DEGREE OF FREEDOM
• SCARA ROBOT has 4 degree of freedom but we
have some 3 degree or more SCARA ROBOT in
ppresent time.
• SCARA ROBOT has 4 links including end effector .
• And four joints 2 joint are revolute type and 1
prismatic joint in body arm and 1 revolute for end
effector .
 Configuration of SCARA ROBOT

• SCARA ROBOT has 4 links and 4 joints .

• 2 joint are revolute in body arm configuration first is
Revolnary and Second is Rotary .
• And there are one another joint to join the end effector is
a prismatic joint
• Basically orthogonal joint .
• There are also a extra revolute joint in end effector .
• So SCARA ROBOT has VRO configuration.
 WORK ENVELOPE OF SCARA
ROBOT
• Basically SCARA ROBOT is four axis robot which can move in
up and down (z axis ) and in x-y axis .
• So it has cylindrical work envelope not totally cylindrical but
almost .
• So it has varientation in diameter and depth of the cylinder .
• The total lengths of arms one and two define the diameter
of the circle, while the Z stroke defines the depth of the
cylinder.
• And the maximum angle of rotation of actuator basically
define limitations of cylindrical shape .
 Application of SCARA ROBOT
• Basically SCARA ROBOT has 4 Dof , it’s a 4 axis robot 3
rotation and one translation motion in z .
• SCARA robots are commonly used for pick and place works or
for the assembly work operation .
• There types of robot can work with high speed and high
accuracy.
• Scara robot can suitable for smaller field of operations. It
take less space for work .
• So By it’s configuration and high accuracy , we can determine
that it’s suitable for Assembly operations
 Limitations of SCARA ROBOT
• Basically due to its configuration It is not able to
carrying high load more than 10 kg .
• It’s has circular configuration so it doesn’t suit for all
types of application and the robot has limited
dexterity and flexibility compared to the full 3D
capability of other types of robot.
• For example, following a 3D contour is something that
will be more likely fall within the capabilities of a six-
axis robot.
 End effector for SCARA ROBOT
• Basically SCARA ROBOT are used for pick and up and assembly
operation so we wanted to grip or hold the material .
• So gripper type of end effector is used in SCARA ROBOT .
• End effector have a sensor gripper .
• It has the force and Torque proximity sensor for finding the right
orientation of the material .
• It aslo have a tactile sensor for dynamic traffic control and intelligent
parking system of objects or parst
• It also have untrasonic sensor distance measuring of objects and
smartness of robot .
 Control system design for SCARA ROBOT
• In SCARA ROBOT A.C. servo motors are chose as end effector
and a double cpu control system .
• It consist of an industry control computer (IPC) as host
machine and a motion control card for controlling the lower
machine .
• And it has 3 DC motars at 3 joint.
• With the Denavit-Hartenberg (D-H) modeling method of the
robot, the kinematics and inverse kinematics analysis are
implemented based on a Robotics Object Oriented Package in
C++, ROBOOP.
• The interface of the control system is designed applying
Microsoft Foundation Classes (MFC) and the hardware
communication and control task is realized relying on the
dynamic link library (DLL).
• Based on the double-CPU control system, the algorithm of the
motion interpolation is designed.
• And for trejectory control of end effector basically a robot
control strategy applying the Bezier curve. The robot accuracy
is tested using a laser tracker.