State of Art Review on SCARA Robotic Arm

Abstract

In this literature, recent development in control and performance enhancement of SCARA(Selective Compliance Articulated Robotic Arm) robotic arm is reviewed. SCARA robotic arm is very popular in the manufacturing industry for its positioning accuracy and repeatability. The SCARA robot has higher flexibility in the horizontal plane and great robustness for vertical motion. This makes the SCARA robot a perfect device for pick and place applications. In the paper, the Kinematic analysis based on DH formulation of the RPR (Revolute-Prismatic-Revolute) configuration-based SCARA robotic arm is presented. In recent years the main focus of the research was to achieve the accurate positioning of the end effector by using different control systems and process algorithms.

Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot

“…Considering serial robots, translational and Schoenflies motions are realized in most cases by Cartesian robots or by SCARA robots [2][3][4][5]. Considering parallel kinematics machines (PKMs), translational motion can be obtained by parallel Cartesian robots [6][7][8], characterized by three legs that are planar serial mechanisms moved by three orthogonal linear actuators perpendicularly to their planes, or by other closed-loop schemes which are not purely translational in general, but become purely translational in case of specific orientations of the joint axes [1,[9][10][11].…”