A New High-Precision SCARA Design and Experiment
Xiaohui Xie, Ge Li, Lining Sun
Available Online April 2018.
- https://doi.org/10.2991/iwmecs-18.2018.121How to use a DOI?
- SCARA, speed, precision, assemblage
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - 2018 3rd International Workshop on Materials Engineering and Computer Sciences (IWMECS 2018) PB - Atlantis Press SN - 2352-538X UR - https://doi.org/10.2991/iwmecs-18.2018.121 DO - https://doi.org/10.2991/iwmecs-18.2018.121 ID - Xie2018/04 ER -