Dynamics characteristics of a SCARA robot subject to NC2 velocity trajectories with different payloads
This paper presents a computer study that was conducted on the dynamics of arobot of aSCARA geometrical configuration. All links of this robot were moving in NC2 (Numerical Control 2) velocitytrajectories. The study was conducted to investigate the effect of payload variation on the gravitational (potential) as well as inertial and centripetal/coriolis (kinetic) forces. The results of these effects are discussed. All the simulation software was written in extended ANSI FORTRAN 77 and run on an HP 9000/550 computer using the UNIX operating system.