1、SCARA機(jī)器人
　　SCARA（Selective Compliance Assembly Robot Arm，中文譯名：選擇順應(yīng)性裝配機(jī)器手臂）是一種圓柱坐標(biāo)型的特殊類型的工業(yè)機(jī)器人。
　　1978年，日本山梨大學(xué)牧野洋發(fā)明SCARA，該機(jī)器人具有四個(gè)軸和四個(gè)運(yùn)動(dòng)自由度，(包括X,Y,Z方向的平動(dòng)自由度和繞Z軸的轉(zhuǎn)動(dòng)自由度)。該系列的操作手在其動(dòng)作空間的四個(gè)方向具有有限剛度，而在剩下的其余兩個(gè)方向上具有無限大剛度。
　　SCARA系統(tǒng)在x,y方向上具有順從性，而在Z軸方向具有良好的剛度，此特性特別適合于裝配工作，例如將一個(gè)圓頭針插入一個(gè)圓孔，故SCARA系統(tǒng)首先大量用于裝配印刷電路板和電子零部件；SCARA的另一個(gè)特點(diǎn)是其串接的兩桿結(jié)構(gòu)，類似人的手臂，可以伸進(jìn)有限空間中作業(yè)然后收回，適合于搬動(dòng)和取放物件，如集成電路板等。
　　如今SCARA機(jī)器人還廣泛應(yīng)用于塑料工業(yè)、汽車工業(yè)、電子產(chǎn)品工業(yè)、藥品工業(yè)和食品工業(yè)等領(lǐng)域。它的主要職能是搬取零件和裝配工作。它的第一個(gè)軸和第二個(gè)軸具有轉(zhuǎn)動(dòng)特性，第三和第四個(gè)軸可以根據(jù)工作的需要的不同，制造成相應(yīng)多種不同的形態(tài)，并且一個(gè)具有轉(zhuǎn)動(dòng)、另一個(gè)具有線性移動(dòng)的特性。由于其具有特定的形狀，決定了其工作范圍類似于一個(gè)扇形區(qū)域。
　　SCARA機(jī)器人可以被制造成各種大小，最常見的工作半徑在100毫米至1000毫米之間，此類的SCARA機(jī)器人的凈載重量在1千克至200千克之間。
The SCARA acronym stands for Selective Compliant Assembly Robot Arm and is one that is hard to remember. It's also sometimes referred to as: Selective Compliant Articulated Robot Arm.
In general, traditional SCARA’s are 4-axis robot arms, i.e., they can move to any X-Y-Z coordinate within their work envelope. There is a fourth axis of motion which is the wrist rotate (Theta-Z). The ‘X’, ‘Y’ and the ‘Theta-Z’ movements are obtained with three parallel-axis rotary joints. The vertical motion is usually an independent linear axis at the wrist or in the base.
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 Compliant. This is advantageous for many types of assembly operations, e.g., inserting a round pin in a round hole without binding.
The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or “fold up” out of the way. This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.
SCARA’s are generally faster and cleaner than comparable Cartesian systems. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other hand, SCARA's can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA though and is usually transparent to the end-user

2、DELTA機(jī)器人
????? Delta機(jī)器人就像一個(gè)倒掛的有三個(gè)腳的蜘蛛，因其的靈巧、速度和精確在裝配、自動(dòng)化和醫(yī)療設(shè)備領(lǐng)域得到應(yīng)用。但是由于其發(fā)明專利控制在少部分人手里，Delta并沒有得到應(yīng)有的推廣。最近，Delta機(jī)器人機(jī)構(gòu)設(shè)計(jì)的專利即將到期，使其他制造商有機(jī)會(huì)生產(chǎn)類似Delta的機(jī)器人裝置。

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