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COLLEGE)
The SCARA (Selective Compliance Assembly Robot Arm) is a very popular industrial robot
architecture. It is compliant in the X-Y directions and rigid in the Z direction. It is commonly used to
transfer parts from one cell to another. An example of a SCARA robot is represented in Figure 1(a)
and the sketch of the robot to study is represented in Figure 1(b).

(a) FANUC SR-3iA (b) Sketch of the SCARA robot

Figure 1: Different representations of the robot to study: (a) Picture of the FANUC SCARA robot SR-3iA; (b)
Sketch of a SCARA robot.

The Denavit-Hartenberg (DH) parameters of this robot are the following ones:
Rt Tx Tx Rx
Joint i theta d a alpha
0 0 L0 0 0
1 q1 0 L1 0
2 q2 0 L2 0
3 0 q3 0 0
With , , and

1) How many prismatic and revolute joints does it have?

217 revolute
Liz primate 1g

Page 2
 K ss c

2) Determine the Forward Kinematics of this robot est is S

CS CS S

FREIERETTZ

I 1
If
11
GG 5,52 952 5,1 O
as tss sis the o s
O O 1 0.5
O O O 1

1 O O
0
1
O
I

O
0

O
O

Cir Sir 0 Cuts

fie o snits
fie O O I 0.5
0 O o
93

Page 3
 3) Write the set of equations to solve the Inverse Kinematics of this robot for the position only. What
joint values affect the position?

Ik Cn te
si S
9 4g
930.5
I

4) What is/are the solution(s) for the third joint?

2 93 0.5 93 7 0.5

5) Using the usual trick, find the solution(s) for the second joint. How many solutions are there?

Ani cos
1 Kt
9
II 1

te'ty Gits 2 are sus t cits

n'ty 2costar t it I

O
9 I

OR
g MEI 1 1

Page 4
 6) To what known robot architecture corresponds the first two joints of the SCARA robot?

2 link robot
planar

7) What is/are the solution(s) of the first joint? How many solutions are there? (You may use information
from the appendix)

tant
ai y
atan
q f tata
f

8) Can you set, at the same time, a given position and orientation to the end-effector? Please explain.

No 6joints needed

Page 5
 9) Compute the joint values when the end-effector is located at the following points A, B, and C in space.
You may use information from the appendix.
i)
ii)
iii)

9itatanf tatar
F 93 2 5
f y o g anno E D aerosol IE
9 Anicos
I 1 q atanyo atami o
g

Page 6
 10) Compute the Jacobian of this robot for the translation part only. Please detail your calculus.

I DX I o
Sn s iz

I
Iq

I
using X Gets
Y sits
2 93 0.5

I Sn s iz O

f
11) Compute the determinant of this Jacobian

DJ Csaz Si Cats Gath

9
91 92
b 9
5129 5,4 size
Cs Cs Sca b
Sz

Page 7
 12) How do we determine the singularities of a robot?

DJ O

13) Determine the singularities of this robot.

DJ sin ga O 9 Anos E 1

sin ga 0
g
0 or t
singularities

a a

14) Explain what happens at each singularity of this robot. You may want to use a sketch of the robot.

Page 8
 15) The robot receives a command to pick up a part from point A and to place it to point C via point B.
Please explain the robot behaviour.

16) How could you detect online that the robot is closed to a singularity while moving?

Pseudo Inverse Jacobian It

singularity
I
is
diagonal
if
I s e

17) Please explain how you could avoid (online) the robot approaching a singularity.

D when closeto a
singularity
I
sud single Value decomposition

Page 9
The robot is composed of 3 links ( ) of mass , and respectively. The links and
move in the x-y plane whereas moves in the z-direction.

Every link has a parallelepiped shape of (square) section d x d with a density of .

18) What methods could you use to determine the differential equations describing the robot dynamics?

Euler Lagrange
Euler Newton

In the following, we will use the method seen during the lecture and tutorial to determine the
dynamic model of the SCARA robot.

This robot has some revolute joints therefore, the angular term of the kinetic velocity is not null. To
estimate this term, the tensor of inertia and the angular velocities should be computed.

Tensor of Inertia
In this section, you will focus on the first link .

19) What reference frame is the more appropriate to compute the tensor of inertia of this link? Please
explain. You may use a sketch.

Center of the reference

mass
following
the link here L reference it
frame of

t.EE
20) What is the relation between an element of mass and an element of volume ?

meV
dm edadydz

Page 10
 21) Compute the first diagonal element of the tensor of inertia of the first link . The formula of the tensor
of inertia is provided in the appendix.

e dm MAUVAISES X x 7
fly't
flea
dude eh y'tt'sa I dy
eh flt's I Iff SL EP da
eh dat t's of dat t's of da

eh doe't
k da e4 fa't a

e4 flat t I off 4 of of
e4 Est f of of e4 f
d l
m
of good MI L t

22) Compute the second diagonal element of the tensor of inertia of the first link .

f
x E dm IK
IEff It
4 n zyedndydt
1 14th
p d
x'tf II da
y
da f f f f se f g da

of an't
I
da
tf d x a

t
E It t
4141 d
et t m
E E
Page 11

t it
 23) Given that the third diagonal element is equal to the second one, please write the tensor of inertia of
the first link .

I m
m
Itd't
g my d

The second link is similar to the first one . The only differences might be the length and the
mass of the link.

24) Please determine the tensor of inertia of the second link .

Iz O u
melted't o
O my Ltd't

Angular velocities
The angular velocities must be expressed in the same reference frame than the tensor of inertia.
The following relation relates the angular velocities to the joint velocities:

The angular velocities and of the links and respectively are:

25) Please compute the value of

TWTR o
8 6
millitdy media's
o o

o o
Elita o o
O
o
O
o
O
o Lycia
f 8 8
Page 12
 26) Please determine the value of it E Lita
TWTR
Go of mfg'td
my

1 1 E
Center of Mass
27) Please express the coordinates of the Center of Mass (CoM) of the first link with respect to the
base reference frame.

E
28) Please express the coordinates of the Center of Mass (CoM) of the second link with respect to
the base reference frame.

fi c
O

29) Please express the coordinates

base reference frame.
Is c

of the Center of Mass (CoM) of the third link with respect to the

3
fusca I as q 9

1 Ising sing 192

Page 13
o
94
 Jacobian
Knowing the following relation:

30) Please determine the expressions of for all the links i.e. , , and .

Ju
g I

a
if
O O

Ivi sina.ttsincat9i Yasl9it9i

tart
g
singgita Ews

Tri sina.tt incat9i Ycslgit9i

sing
o
191
fools
o
921
g

Page 14
The inertial effects are represented by the following matrix:

In this study case, the robot is composed of 3 links therefore . The values of were
computed in question 31. The values of were determined in questions 26 and 27.

31) Please express the matrix .

msn.tt
fit o

List m Lies O

C m 495
O
mil c
O
O
O

32) Please explain the difference between the Coriolis and Centrifugal effects. What are their causes?

due to earth 7 pushesobject away

mortify from the center
of rotation
objectmoving in Omor

Page 15
 33) From the result of question 32, determine the values of the elements of the matrix?

i 21
Ci22
211
212
221
222

The main potential energy on a robot is the gravity.

34) What axis is affected by the gravity?

35) Please express

V q U V2TV
Lsing tMag liningthesin 9 9 t mg Lsingthesin g tq logs
Vg m
g
gla mrsin
it9eltmssinl9 tq Log
gl sin q I m t m tm t
Vq

Page 16
 36) Please compute for the 3 links (i.e. )

0
1 coslq.tfm.ghtm.gl tmzgljtaslg.iq meghtmgLi
91
g

gl9 Yg cocgit9u mightmight

to
gal 49
The dynamic model of a robot is defined by the following equation:

37) Express the set of differential equations that model dynamically the SCARA robot

Page 17
The solution of the first joint of a Spherical robot is:

The solution of the first joint of a 2-link planar robot is:

(a) Graphical representation of the atan function (b) Graphical representation of the
acos and asin functions

Trigonometric formula:

Page 18
Tensor of Inertia formula:

Page 19