SCARA_RRRR_M10

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

SCARA with 4 rotary axes:

• Joint axis 1: Rotates the turret around the turret axis (parallel to the Z-axis).
• Joint axis 2: Rotates the upper arm around the shoulder axis.
• Joint axis 3: Rotates the forearm around the elbow axis.
• Joint axis 4: Rotates tool around 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 3) is mounted on the shoulder axis (joint 2) and the movement is transferred to the elbow (joint 3) using, for example a parallelogram, the following coupling must be set:

Single axis: 2, joint axis: 3, gear ratio: -1

See also Couplings.

• Parameters
• Joints
• PTP parameters
• Physics