Design of SCARA robot
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.
KeywordsLagrange Equation Joint Torque Centripetal Force Assembly Automation Forward Dynamic
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