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Open AccessArticle

Simulation Assessment of the Performance of a Redundant SCARA

Department of Mechanical & Industrial Engineering, University of Brescia, 25121 Brescia, Italy
Department of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Robotics 2019, 8(2), 45;
Received: 13 March 2019 / Revised: 7 June 2019 / Accepted: 10 June 2019 / Published: 12 June 2019
(This article belongs to the Special Issue Kinematics and Robot Design II, KaRD2019)
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. View Full-Text
Keywords: industrial robot; high speed robot; pick-and-place task; redundant robot; manipulability industrial robot; high speed robot; pick-and-place task; redundant robot; manipulability
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Bussola, R.; Legnani, G.; Callegari, M.; Palmieri, G.; Palpacelli, M.-C. Simulation Assessment of the Performance of a Redundant SCARA. Robotics 2019, 8, 45.

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