README.md
Generic SCARA Robot
A 4-axis SCARA robot with high-speed and precise movements. The robot has 650mm reach and 545mm height. The robot's Z-axis (Link 4) has 245mm vertical range of motion.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Maximum Speed |
Maximum Acceleration |
| J1 |
-180° |
180° |
360°s⁻¹ |
1800°s⁻² |
| J2 |
-135° |
135° |
360°s⁻¹ |
1800°s⁻² |
| J3 |
-360° |
360° |
720°s⁻¹ |
3600°s⁻² |
| J4 |
0m |
0.245m |
2ms⁻¹ |
10ms⁻² |
Cartesian Parameters
- Maximum TCP linear speed: 2ms⁻¹
- Maximum TCP linear acceleration: 10ms⁻²
- Maximum TCP angular speed: 360°s⁻¹
- Maximum TCP angular acceleration: 1800°s⁻¹