SCARA

SCARA

Intelligent Industrial Robots

Published in Richard L. Shell, Ernest L. Hall, Handbook of Industrial Automation, 2000

In the following section, the complete dynamic model of the four-axis SCARA robot (AdeptOne) is derived based on the L-E formulation (see Fig. 13). The (AdeptOne) SCARA robot is kinematically simple, and its unique direct drive actuating system eliminates gear friction and backlash. It has closed-form dynamic solutions which will provide the simple physical interpretations (inertia, centrifugal and Coriolis forces, friction, and gravity) necessary to design the robot controller.

Seismic Analysis of the Robotic Arm for Patient Positioning in Proton Therapy System

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Journal Information

Published in Fusion Science and Technology, 2023

Jianghua Wei, Songbo Han

The typical PPS in proton therapy is based on a 6-DOF robotic arm, as shown in Fig. 3. The main structure of the arm is a hollow shell with the thinnest and thickest values of 20 and 25 mm, respectively. The robotic arm is based on a SCARA robot, with horizontal rotation on the first, second, and sixth axes; vertical rotation on the third and fifth axes; and rolling rotation on the fourth axis. The maximum payload on the sixth axis is normally more than 300 kg.[17]

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Intelligent Industrial Robots

Seismic Analysis of the Robotic Arm for Patient Positioning in Proton Therapy System