期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2018
卷号：170
期号：4
页码：042088
DOI：10.1088/1755-1315/170/4/042088
语种：English
出版社：IOP Publishing
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.
