WOLFRAM|DEMONSTRATIONS PROJECT

A Model of the SCARA Robot

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angle
θ
1
of joint 1
20°
angle
θ
2
of joint 2
50°
distance
d
3
of wrist 3
5
angle
θ
4
of joint 4
20°
world coordinate system
base coordinate system
The SCARA robot (Selective Compliance Assembly Robot Arm) has four degrees of freedom: three rotations and one translation. The model described in this Demonstration illustrates the forward kinematics of SCARA by manipulation of four parameters.