SCARA_RR_M10

Included in the MOVIKIT^® Robotics license.

SCARA with 2 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).

INFORMATION: The flange orientation is constantly maintained by means of a parallelogram or a belt, or the tool only comprises a pen, for example; its orientation is not significant.

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