On Adaptable Design for SCARA Manipulator with Quick-replaceable Arms

摘要

By surveying SCARA manipulator in the market, the question that the overall length of arms is fixed, which leads its operating range to be relatively fixed, and the manipulator has badly adaptive can be found. Aiming at the problem, a SCARA manipulator whose arms can be replaced quickly had been designed according to the concept of adaptable design, and the principle of replacement arms had been put forward basing on the analysis to the minimum operating radius of manipulator in this paper. Moreover, an adaptable interface for replacing quickly different grippers during the process of production had been designed in the paper.