The Analysis of Geometrical, Kinematic and Accuracy Parameters of the Multifunctional SCARA-Module

Abstract

Some aspects of designing a multifunctional module based on SCARA-kinematics (Selective Compliance Articulated Robot Arm), which allows performing various technological operations, are considered. The design of the module is developed, its functioning is described. The analysis of the structural rigidity of the module was carried out, which revealed the maximum deflection associated with the mass-dimensional parameters of various elements. The mathematical model for the used module scheme allowing to estimate kinematic parameters and accuracy of positioning of the end effector taking into account the basic components of an error is developed. The simulation results are presented.