抄録
A new type robot called “Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot” for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of “selective compliance”, that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.
