A New High-Precision SCARA Design and Experiment

DOI

10.2991/iwmecs-18.2018.121How to use a DOI?

Keywords

SCARA, speed, precision, assemblage

Abstract

This paper first described the composition of the SCARA robot, which contains the mechanical structures, drive systems and control systems. According to its mechanical structure, the mathematical model for SCARA is established by the D-H method, and then forward kinematics and inverse kinematics is deduced. Secondly, linear and circular interpolation method is researched in the Cartesian space, cubic polynomial interpolation and cubic spline interpolation method is researched in the joint space. Work in image-grasping, robot feeding and unloading is made by using the designed SCARA in electronic factory. Then the good results are got in such work.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xiaohui Xie
AU  - Ge Li
AU  - Lining Sun
PY  - 2018/04
DA  - 2018/04
TI  - A New High-Precision SCARA Design and Experiment
BT  - Proceedings of the 2018 3rd International Workshop on Materials Engineering and Computer Sciences (IWMECS 2018)
PB  - Atlantis Press
SP  - 583
EP  - 588
SN  - 2352-538X
UR  - https://doi.org/10.2991/iwmecs-18.2018.121
DO  - 10.2991/iwmecs-18.2018.121
ID  - Xie2018/04
ER  -