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49PARTs Unit01 Introduction of robot Unit02 Introduction of industrial robot Unit03 Types of industrial robots Unit04 ABB robot Unit05 KUKA robot Unit06 YASKAWA robot Unit07 FANUC Robot Unit08 SCARA robot Unit09 Industry application of robot Unit10 New robots Unit11 Intelligent manufacturing and global robot development program Unit12 The outlook for industrial robot 49PARTs

Unit 3 Types of industrial robots Task： Part1 Cartesian coordinate robot Part2 SCARA robot Part3 Six-axis articulated robot Part4 Palletizing robots Part5 Delta robot Special English for Industrial Robot Unit 3 Types of industrial robots URL ：www.irobot-edu.com Mail：edubot_zhang@126.com

10 Unit 3 Types of industrial robots Part2 SCARA robot SCARA机器人 The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm. In 1981, The SCARA was developed under the guidance of Hiroshi Makino, a professor at the University of Yamanashi, as shown in Figure 3-4. Figure 3-4 SCARA robot

10 Unit 3 Types of industrial robots Attributes Part2 SCARA robot SCARA机器人 Attributes Its arm is slightly compliant in the XY-axes but rigid in the Z-axis, this feature is particularly suitable for assembly work, for example, insert a round pin into a round hole. Therefore, the SCARA system is widely used for assembling printed circuit boards and electronic components. The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, articulated. This feature allows the arm to extend into confined areas and then retract or “fold up” out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.

10 Unit 3 Types of industrial robots Features Part2 SCARA robot SCARA机器人 Features SCARAs are generally faster and cleaner than comparable Cartesian robot systems. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other hand, SCARAs can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA and is usually transparent to the end-user.

10 Unit 3 Types of industrial robots Features Part2 SCARA robot SCARA机器人 Features Most SCARA robots are based on serial architectures, which means that the first motor should carry all other motors. There also exists a so-called double-arm SCARA robot architecture, in which two of the motors are fixed at the base. The first such robot was commercialized by Mitsubishi Electric.

10 Unit 3 Types of industrial robots Features Part2 SCARA robot SCARA机器人 Features Another example of a dual-arm SCARA robot is Mecademic's DexTAR educational robot, in china, HRG company developed five-bar robot HRG-HD1B5B, as shown in figure 3-5. a)DexTAR educational robot b)HRG-HD1B5B FiveBar robot Figure 3-5 Dual-arm SCARA robot

10 Unit 3 Types of industrial robots Vocabulary Part2 SCARA robot SCARA机器人 Vocabulary selective [sɪ'lɛktɪv] adj.选择性的；讲究的 attribute [ə'trɪbjut] n.属性 compliant [kəm'plaɪənt] adj.顺从的；服从的；应允的 enclose [ɪnˈkloʊz] vt.把…装入信封; 附入 feature ['fitʃɚ] n.产品特点，特征 v.是…的特色，使突出 mount [maʊnt] vt.增加；安装，架置n.山峰；底座 footprint ['fʊtprɪnt] n.足迹；脚印 end-user ['end,ju:zə] n.终端用户 rigid ['rɪdʒɪd] adj.僵硬的；坚硬的；精确的

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