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The SCARA is a type of industrial robot. The acronym stands for selective compliance assembly robot arm [1] or selective compliance articulated robot arm. [2] By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the Z direction, hence the term selective compliance. This is ...
Enterprise architecture regards the enterprise as a large and complex system or system of systems. [3] To manage the scale and complexity of this system, an architectural framework provides tools and approaches that help architects abstract from the level of detail at which builders work, to bring enterprise design tasks into focus and produce valuable architecture description documentation.
SCARA [5] is an acronym for Selective Compliance Assembly Robot Arm. [11] SCARA robots are recognized by their two parallel joints which provide movement in the X-Y plane. [5] Rotating shafts are positioned vertically at the effector. SCARA robots are used for jobs that require precise lateral movements. They are ideal for assembly applications ...
Illustration of the 4+1 Architectural View Model. 4+1 is a view model used for "describing the architecture of software-intensive systems, based on the use of multiple, concurrent views". [1] The views are used to describe the system from the viewpoint of different stakeholders, such as end-users, developers, system engineers, and project managers.
Similar to a distributed architecture, any complex SCADA can be reduced to the simplest components and connected through communication protocols. In the case of a networked design, the system may be spread across more than one LAN network called a process control network (PCN) and separated geographically. Several distributed architecture ...
The four parameters of classic DH convention are shown in red text, which are θ i, d i, a i, α i. With those four parameters, we can translate the coordinates from O i–1 X i–1 Y i–1 Z i–1 to O i X i Y i Z i. The following four transformation parameters are known as D–H parameters: [4] d: offset along previous z to the common normal
At a singularity the end-effector loses one or more degrees of twist freedom (instantaneously, the end-effector cannot move in these directions). Serial robots with less than six independent joints are always singular in the sense that they can never span a six-dimensional twist space. This is often called an architectural singularity.
Three of these joints (the shoulder, wrist and the base of the thumb) have more than one degree of freedom, all of which must be taken into account. If the model were an entire human figure, then the location of the shoulder would also have to be calculated from other properties of the model.