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Design of SCARA robot

  • D. Noe
  • M. Skubic
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

Abstract

In the first part the paper presents the analysis of a SCARA manipulator working area. The second part concerns with the dynamic analysis on the basis of Lagrange equation. The moments in the particular link and the actual torque courses related to the real time and real robot form was calculated. Both analyses are part of the development of a SCARA robot named AVRO for a Slovenian enterprise. The results will be introduced in a future study of SCARA robot characteristics.

Keywords

Lagrange Equation Joint Torque Centripetal Force Assembly Automation Forward Dynamic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. Makino H., N. Furura: Selective Compliance Assembly Robot Arm, Proceedings of the 1st International Conference on Assembly Automation, Brighton 1980, P. 77 to 86.Google Scholar
  2. McKerrow, P. J.: Introduction to Robotics, Addison-Wesley Publishing Company Sydney 1991, P. 347 to 398.Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • D. Noe
    • 1
  • M. Skubic
    • 1
  1. 1.Laboratory for Handling and Assembly Systems Automation, Faculty of Mechanical EngineeringUniversity of LjubljanaSlovenia

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