Selective Compliance Assembly Robot Arm (SCARA) robot has two connected arms with stepper motors, sensor for determining motor step size, detector of positions of arms from sensor signals

摘要

The robot has a body (60), a first arm (51) with one end connected to the robot body to rotate in a horizontal plane and a second arm (52) connected to the other end of the first arm to rotate in a horizontal plane. An R shaft (53) is rotatably attached to the free end of the second arm and has stepper motors for positioning of the arms. A sensor for determines the motor step size and a position sensor detecting the positions of the two arms from the sensor signals.