SCARA_RRR_M10

Included in the MOVIKIT^® Robotics add-on MediumModels license.

SCARA with 3 rotary axes:

• Joint axis 1: Rotates the upper arm around the shoulder axis (parallel to the Y-axis).
• Joint axis 2: Rotates the forearm around the elbow axis (parallel to the Y-axis).
• Joint axis 3: Rotates the tool around the wrist axis (parallel to the Z-axis).

INFORMATION: The inclination of the tool is constantly maintained by means of a parallelogram or a belt.

If the drive of the elbow axis (drive 2) is mounted on the shoulder axis (joint 1) and the movement is transferred to the elbow (joint 2) using, for example a parallelogram, the following coupling must be set:

Single axis: 1, joint axis: 2, gear ratio: -1

See also Couplings.

• Parameters
• Joints
• PTP parameters
• Physics