FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR TEHNOLOGICE

UNIVERSITATEA POLITEHNICA DIN BUCURESTI

FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR
TEHNOLOGICE

Tema

UNIVERSITATEA POLITEHNICA DIN BUCURESTI

FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR TEHNOLOGICE

TITULAR CURS: STUDENT:

Prof. Dr. Ing. Adrian Nicolescu Pascaru Mihail-Cosmin
Grupa:
611BB

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 Cuprins

1.Kuka KR 5 SCARA ………………………………………………………………………………4

2.Kuka KR 10 SCARA……………………………………………………………………………..7

3.Epson G20 SCARA……………………………………………………………………………10

4.Epson LS6 SCARA…………………………………………………………………………….13

5.Epson RS4 SCARA…………………………………………………………………………….16

6.Stäubli 4-axes SCARA……………………………………………………………………….19

7.Mitsubishi RH-3FH35 SCARA……………………………………………………………21

8.Mitsubishi RH-20FH100…………………………………………………………………..24

9.Motoman MYS650LF SCARA……………………………………………………………27

10.Motoman MYS450F……………………………………………………………………….30

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 Introducere

Robotii te tip SCARA sunt roboti la care coordonatele sunt articulat-

cilindrice cu arhitectura generala de tip “brat articulat mobil in plan
orizontal”. La acesti roboti cinematica este de 3 tipuri:

-T1,R2,R3

-R1,T2,R3

-R1,R2,T3

Acesti roboti au o sarcina portanta mica, deoarece aplicatia principala a

acestora o reprezinta aplicatia pick and place. Acesti roboti sunt utilizati
de obicei in laboratoare, ei fiind pozitionati de obicei la sol.

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1.Kuka KR 5 SCARA R550(R1,R2,T3):

Loads
Payload 5 kg
Z-stroke 200 mm / 320 mm
Working envelope
Max. reach 550 mm
Other data and variants
Number of axes 4
Repetability <±0,02 mm
Weight 20 kg
Mounting positions Floor
Controller KR C2sr
Speed Max. 7,1 m/s

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Link: http://www.kuka-
robotics.com/en/products/industrial_robots/special/scara_robots/kr5_scara_r550/start.htm

1.Nume robot: KR 5 SCARA R550

2.Sarcina portanta maxima : 5 kg

3.Numar de axe comandate numeric: 3 axe (R1,R2,T3)

4.Masa robotului: 20 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a)R1: ± 145°

b)R2: ±155°

c)T3: 200 mm

Diametru: 550 mm

Viteza maxima: 7.1 m/s

7. Repetabilitatea: <±0,02 mm

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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2.Kuka KR 10 SCARA R850:

Loads
Payload 10 kg
Z-stroke 300 mm / 400 mm
Working envelope
Max. reach 850 mm
Other data and variants
Number of axes 4
Repetability <±0,025 mm
Weight 50 kg
Mounting positions Floor
Controller KR C2sr
Speed Max. 11 m/s

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Link: http://www.kuka-
robotics.com/en/products/industrial_robots/special/scara_robots/kr10_scara_r850/start.htm

1.Nume robot: KR 10 SCARA R850

2.Sarcina portanta maxima : 10 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 50 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a)R1: ± 140°

b)R2: ± 165°

c)T3: 310 mm

Diametru: 850 mm

Viteza maxima: 10 m/s

7. Repetabilitatea: <±0,025 mm

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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3.Epson G20 SCARA(R1,R2,T3):

Payload
Max. 20 kg
Rated 10 kg
Arm Lenght
G20-85x 850 mm J1+J2 (450 + 400 mm)
G20-A0x 1000 mm J1+J2 (600 + 400 mm)
J3(Z) 180 mm (150 Clean) / 420 mm (390 Clean)
Weight
G20-85x (Floor / Ceiling / Wall) 48 / 48 / 53
G20-A0x (Floor / Ceiling / Wall) 50 / 50 / 55
Maximum Operating Speed
G20-85x (J1+J2) 11,000 mm/sec
G20-A0x (J1 +J2) 11,500 mm/sec
J3 (180 / 420) 1,100 / 2,350 mm/sec
J4 1,700 deg/sec

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Link: http://robots.epson.com/product-detail/5

1.Nume robot: G20 SCARA

2.Sarcina portanta maxima : 20 kg

3.Numar de axe comandate numeric: 3 axe (R1,R2,T3)

4.Masa robotului: 55 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a) Cursa: G20-85x: 850 mm J1+J2 (450+400 mm)

Viteza: J1+J2: 11,000 mm/sec

b)Cursa: G20-A0x: 1000 mm J1+J2 (600+400 mm)

Viteza: J1+J2: 11,500 mm/sec

c)Cursa: 180 mm (150 Clean) / 420 mm (390 Clean)

Viteza : J3-1,100 / 2,350,,/sec

d)Viteza: J4-1,700°/sec

Diametru: 1000 mm

Viteza maxima: 10 m/s

7. Repetabilitatea:

J1 + J2: +/-0.025 mm

J3: +/-0.010 mm

J4: +/-0.005 deg

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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4.Epson LS6 SCARA(R1,R2,T3):

Payloads
Max 6 kg
Rated 2 kg
Arm Lenght
LS6-601x 600 mm J1+J2 (325+275 mm)
J3 (Z) 200 mm (170 Clean)
Weight
LS6-601x 17 kg
Maximum Operating Speed
LS6-601x (J1 + J2) 6,800 mm/sec
J3 1,100 mm/sec
J4 2,000 deg/sec

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Link: http://robots.epson.com/product-detail/104

1.Nume robot: LS6 SCARA

2.Sarcina portanta maxima : 6 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 17 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a)Viteza:LS6-601x (J1+J2): 6,800 mm/sec

b)Viteza:J3: 1,100 mm/sec

c)VitezaJ4: 2,000 deg/secDiametru: 850 mm

Diametru:

LS6-601x: 600 mm J1+J2 (325+275 mm)

J3 (Z): 200 mm (170 Clean)

7. Repetabilitatea:

J1 + J2: +/-0.020 mm

J3: +/-0.010 mm

J4: +/-0.010 deg

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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5.Epson RS4 SCARA(T1,R2,R3):

Payload
Max 4 kg
Rated 1 kg
Arm Lenght
J1+J2 550 mm (275+275mm)
J3 (Z) 130 mm (100 clean)
Weight
RS4-551 20 kg
Maximum Operating Speed
J1+J2 7,400 mm/sec
J3 +/- 0.010 mm
J4 +/- 0.010 deg

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Link: http://robots.epson.com/product-detail/9

1.Nume robot: RS4 SCARA

2.Sarcina portanta maxima : 4 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 20 kg

5.Pozitionarea robotului: deasupra spatiului de lucru

6.Curse/Viteze pe axe:

a)Viteza: J1+J2: 7,400 mm/sec

b)Viteza: J3: 1,100 mm/sec

c)Viteza: J4: 2,600 deg/sec

Diametru:

J1+J2: 550 mm (275+275 mm)

J3 (Z): 130mm (100 Clean)

7. Repetabilitatea:

J1 + J2: +/-0.015mm

J3: +/-0.010 mm

J4: +/-0.010 deg

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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6.Stäubli 4-axes SCARA robot(R1,R2,T3):

Model TP 80
Degrees of freedom 4
Maximum load capacity 1 kg
Nominal load capacity 0.5 kg
Reach 800 mm
Repetability ±0.05 mm
Stroke 100 mm
Protection class (with optional bellows) IP54 (IP65)
Attachment methods Wall
Stäubli CS8 series controller CS8C

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Link: http://www.staubli.com/en/robotics/6-axis-scara-industrial-robot/low-payload-6-axis-scara-
robot/tp80/

1.Nume robot: TP80

2.Sarcina portanta maxima : 1 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: - kg

5.Pozitionarea robotului: pe perete

6.Curse/Viteze pe axe:

a)Viteza:

b)Viteza:

c)Viteza:

Diametru: 800 mm

7. Repetabilitatea: ±0.05 mm

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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7.Mitsubishi RH-3FH35 SCARA robot:

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Link: http://mitsubishirobotics.com/pdf/F-Series_Robot_Brochure.pdf

1.Nume robot: RH-3FH35

2.Sarcina portanta maxima : 3 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 29 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a)Viteza: J1: 420°/sec

Cursa: J1: ±170°

b)Viteza: J2: 720°/sec

Cursa: J2: ±145°

c)Viteza: J3: 1100 mm/sec

Cursa: J3: 150mm

d)Viteza: J4: 3000°/sec

Cursa: J4: ±360°

7. Repetabilitatea:

Y-X composite: ±0.010

J3 (Z): ±0.01

J4 (θ): ±0.004

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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8.Mitsubishi RH-20FH100 SCARA:

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Link: http://mitsubishirobotics.com/pdf/F-Series_Robot_Brochure.pdf

1.Nume robot: RH-20FH100

2.Sarcina portanta maxima : 20 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 77 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

a)Viteza: J1: 280°/sec

Cursa: J1: ±170°

b)Viteza: J2: 450°/sec

Cursa: J2: ±153°

c)Viteza: J3: 2400 mm/sec

Cursa: J3: xx = 35 : 350/ xx = 45 : 450

d)Viteza: J4: 1700°/sec

Cursa: J4: ±360°

7. Repetabilitatea:

Y-X composite: ±0.02

J3 (Z): ±0.01

J4 (θ): ±0.005

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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9.Motoman MYS650LF SCARA:

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Link: http://www.motoman.com/datasheets/MYS650LF.pdf

1.Nume robot: MYS650LF

2.Sarcina portanta maxima : 6 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 28 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

S-Axis + L-Axis: 650 mm (25.6")

S-Axis : +242°/-62°

L-Axis : ±147.5°

U-Axis : 330 mm (13")

R-Axis : ±360°

7. Repetabilitatea:

S-Axis + L-Axis : ±0.015 mm (0.0006")

U-Axis : ±0.01 mm (0.0003")

R-Axis: ±0.005°

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

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10.Motoman MYS450F:

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Link: http://www.motoman.com/datasheets/MYS450.pdf

1.Nume robot: MYS450F

2.Sarcina portanta maxima : 6 kg

3.Numar de axe comandate numeric: 4 axe (R1,R2,T3)

4.Masa robotului: 27 kg

5.Pozitionarea robotului: la sol

6.Curse/Viteze pe axe:

S-Axis + L-Axis: 450 mm (17.7")

S-Axis (1st horizontal arm): +242°/-62°

L-Axis (2nd horizontal arm): ±147.5°

U-Axis : 180 mm (7.1")

R-Axis (rotatie): ±360°

7. Repetabilitatea:

S-Axis + L-Axis : ±0.015 mm (0.0006")

U-Axis : ±0.01 mm (0.0003")

R-Axis: ±0.005°

8. Aplicatii in care poate fi integrat: Asamblare, incarcare-descarcare, pick and place.

In concluzie

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