Simulation Assessment of the Performance of a Redundant SCARA

摘要

The present paper analyses the potential dynamic performance of a novel redundant SCARA robot, currently at the stage of a functional design proposed by a renowned robot manufacturer. The static and dynamic manipulability of the new concept is compared with the conventional model of the same manufacturer by means of computer simulation in typical pick and place tasks arising from industry. The introduction of a further revolute joint in the SCARA robot kinematics leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. In this paper, the potential of a redundant SCARA architecture in cutting cycle-times is investigated for the first time in performing several tasks. It is shown that, in order to exploit the possible enhancements of the redundant structure, the whole manipulator, mechanics and control must be redesigned according to specific tasks aiming at the optimization of their cycle-time.