Chapter 2 Fundamentals of Robotics 49
#1
Rotary joint
#3
Rotary joint
#2
Rotary joint
#4
Linear
(vertical joint)
A
B
Figure 2-29. A—This is an example of a basic SCARA robot confi guration. Note the three rotary joints
and the single vertical joint used in this horizontally articulated confi guration. B—This is a top view of
the work envelope of a typical SCARA horizontally articulated robot confi guration. This work envelope
is sometimes referred to as the folded book confi guration. (Adept Technology, Inc.)