Forward and Inverse Kinematics for a Novel Double Scara Robot

摘要

This paper presents a novel double scara robot which used in industrial automation for assembling and sorting small components. It has 3 degrees of freedom: translational motion along two orthogonal axes (x, y) and rotational motion around the z-axis. In particular, the design process and development of the novel double scara robot is presented. Then, this paper develops both forward and inverse kinematics models for the novel double scara robot. The correctness and effectiveness of the kinematic solutions was shown by the simulation of the double scara robot. The simulation results for computation of inverse kinematics and forward kinematics of the robot are presented at the end of the thesis. For the choice of the links' dimensions, the calculated solutions from the forward kinematic problem are completely identical to the desired trajectories.