DrawSCARA:

Path: Dynamics/Robotics

% Draw a SCARA.

   The SCARA acronym stands for Selective Compliance Assembly Robot Arm
   or Selective Compliance Articulated Robot Arm.

   Type DrawSCARA for a demo.

--------------------------------------------------------------------------
   Form:
   d = DrawSCARA( 'defaults' )
       DrawSCARA( 'initialize', d )
   m = DrawSCARA( 'update', x )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   x       (4,:) [theta1;theta2;d4;theta4]
   or
   d       (1,1) Data structure for dimensions
                 .a1 (1,1) Link arm 1 joint to joint
                 .a2 (1,1) Link arm 2 joint to joint
                 .b  (1,3) Box dimensions [x y z] See Box
                 .z1 (1,1) Z position of link 1 and link2
                 .l1 (1,5) Link arm 1 dimensions [x y z t d] See UChannel
                 .l2 (1,3) Link arm 2 dimensions [x y z] See Box
                 .c1 (1,2) Cylinder 1 [r l]
                 .c2 (1,2) Cylinder 2 [r l]
                 .c3 (1,2) Cylinder 2 [r l]
                 .c4 (1,2) Cylinder 2 [r l]
                 .l4 (1,5) Hand dimensions [x y z t d] See UChannel

   -------
   Outputs
   -------
   m       (1,:) If there is an output it makes a movie

--------------------------------------------------------------------------
   Tsai, Lung-Wen, "Robot Analysis," Wiley, p. 112.
--------------------------------------------------------------------------

Children:

Common: ComponentModels/Box
Common: ComponentModels/Frustrum
Common: ComponentModels/UChannel
Common: Graphics/NewFig
Common: Graphics/XLabelS
Common: Graphics/YLabelS
Common: Graphics/ZLabelS
Math: Linear/Mag

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