A NEW ACTING SOLUTION OF A DOUBLE SCARA ROBOT

Abstract

The traditional SCARA robot has the mechanical structure built by an open kinematical chain, articulated arm type, mounted in horizontal plane. Other than the classical solution that uses a serial structure, have appeared other solutions which are using close kinematic chains. So the double SCARA robot is using for the robot arm a five-bar closed linkage. In the paper we present the design of a double SCARA mechanism using CATIA V5 solution, where are modelled two types of five-bar mechanisms: general and degenerate, in which the distance between the joints from the frame is zero. In the second situation it is proposed a new acting solution of active joints, which is simplifying the construction of the system. This solution leads also to a simplified forward and inverse kinematics and also at a simplified control system.