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Design and Kinematic Analysis of the Parallel Robot 4-DoF SCARA

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Book cover Automation 2018 (AUTOMATION 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 743))

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Abstract

The subject of the paper is a design of the robot with closed kinematic chain with three degrees of freedom. The paper presents the design of a 4-DoF SCARA mechanical robot and a gear unit that is part of its propulsion system. A simple and inverse task of kinematics was solved. On the basis of the equations of forward kinematics, the work space was defined.

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Author information

Authors and Affiliations

  1. Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314, Kielce, Poland

    Anna M. Annusewicz & Paweł A. Łaski

Authors
  1. Anna M. Annusewicz
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  2. Paweł A. Łaski
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Corresponding author

Correspondence to Paweł A. Łaski .

Editor information

Editors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Annusewicz, A.M., Łaski, P.A. (2018). Design and Kinematic Analysis of the Parallel Robot 4-DoF SCARA. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2018. AUTOMATION 2018. Advances in Intelligent Systems and Computing, vol 743. Springer, Cham. https://doi.org/10.1007/978-3-319-77179-3_49

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  • DOI: https://doi.org/10.1007/978-3-319-77179-3_49

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-77178-6

  • Online ISBN: 978-3-319-77179-3

  • eBook Packages: EngineeringEngineering (R0)

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