# Epson SCARA Robot Overview

tag: *Epson SCARA* *机械臂* *执行* *机器人部件*

* Epson G1 ![Epson G1](/files/-LWOCu2_IvCDu2jLUlHX)
* Epson G3 ![epson\_scara-G3](/files/-LWOCu2bE3dJQdqDmvdn)
* Epson G6 ![epson\_scara-G6](/files/-LWOCu2dk2GFw3Xw9yIj)
* Epson G10 ![epson\_scara-G10](/files/-LWOCu2fjcckmbtvP26p)
* Epson G20 ![epson\_scara-G20](/files/-LWOCu2hl2ig52M_m0mc)

Epson在机器人领域是做的比较好的一家。经常会听到Epson Robot和安川，发那科等公司一起出现。

他们也是一家做机械臂和控制器解决方案的公司。其实 他们家很著名的就是这款Scara机械臂。Scara（Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm）的意思是选择性柔性平面机器人，就是这个机械臂的每个关节在XY平面方向上是带有一定柔性（可Back Drive），在Z方向上是完全刚性的。

Scara机构示意图： ![scara 示意图](/files/-LWOCu2jlKl0aFw6Km7X)

这种机械臂的好处是可以在XY平面运动的非常快（由于运动速度叠加）

## 硬件

由于硬件款式较多，先挖个坑之后补（2017.11.13）

## 应用场景

码垛，生产线搬运，较精密移动零件。

## 拓展

[Epson Scara Robot 官网](http://robots.epson.com/products/1)

[wiki-Scara](https://en.wikipedia.org/wiki/SCARA)


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