Computational Dynamics of SCARA Variant

Abstract

The SCARA robot has been extensively used for industrial applications for many years. If the applications' requirements need to be modified, per say the physical limitation of the workspace restricts the vertical movement in the system, there may need a modification to the SCARA robot configuration that can accompany to these needed changes. The motivation behind this research is to propose a SCARA variant as an alternative, with the popularity and applications of a SCARA robot. The main objective is to relocate the vertical prismatic joint and study the computational dynamics of the SCARA variant and the performances.