Intelitek SCORA-ER 14, User Manual

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Structure
The
SCORA-ER 14
is a horizontal articulated (SCARA) robot.
The first two joints are revolute and determine the position of the end effector in
the XY plane. The third joint is prismatic and determines the height (Z coordinate)
of the end effector.
Figure 2-1 identifies the joints and links of the mechanical arm.
Each joint is driven by a servo DC motor via a Harmonic Drive gear transmission.
The following table describes the movement of the axes:
Axis No. Motion
1 Rotates Link 1 in horizontal (XY) plane.
2 Rotates Link 2 in horizontal (XY) plane.
3 Translates (raises and lowers) the end effector along Z axis.
4 Rotates the end effector.
Figure 2-1: SCORA-14 Mechanical Arm
SCORA-ER 14 2 - 2 User’s Manual
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