The Analysis of the Kinematic Characteristics of the Multifunctional Module Based on the SCARA Type Manipulator

Abstract

The functioning of the multifunctional module based on the SCARA type manipulator (Selective Compliance Articulated Robot Arm) is considered, its characteristics and possible areas of use are described. Two possible kinematic schemes of manipulators of this type, differing in the location of the vertical movement drive, are presented. A mathematical model for each of the presented schemes is developed. The solution of the direct kinematic problem, which consists in determining the position and motion parameters of the end effector of the device at the known size of the mechanism links and the specified characteristics of the individual drives is given. Also the analytical solution of the inverse kinematic problem is obtained. The analysis of the configuration of the reach and the orientation of the end effector in it is made. The results of modeling, their comparison for different types of kinematic schemes, as well as practical recommendations and prospects for further research are presented.