SCALAR ROBOT HAVING SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM

摘要

PURPOSE: A scalar robot is provided to repress the danger when obstacles or a person is in the operating range, to prevent the mis-operation at that time, and to appropriately process about the obstacles when there are obstacles. CONSTITUTION: The scalar robot has:a robot body; a first arm(50) combined the one end in the robot body so the first arm as to be able to rotate in a horizontal plane; a second arm combined the one end in the inner end of the first arm(50) so the second arm as to be able to rotate in a horizontal plane; a R shaft installed to be able to rotate in a free end of the second arm; a sensor device to detect the stepping amount of a motor to drive the first arm and stepping motors(12, 22, 32, 42); a detecting device to detect each position of the first arm(50) and the second arm(51) by operating by responding to the signal from the sensor device.