Image:SCARA configuration.png

Kinematic diagram of SCARA robot

#include "colors.inc"

camera {
        location 8
        look_at <1.5,3,0>
        right x
        up y
}

light_source {
        <3,3,10>
        color White
        shadowless
}

light_source {
        <10,3,0>
        color White
        shadowless
}

light_source {
        <3,10,0>
        color White
        shadowless
}

background {color White}

#macro Segment(Start,End)
cylinder{Start,End,.1 pigment {Black}}
sphere {Start,.1 pigment {Black}}
sphere {End,.1 pigment {Black}}
#end

#macro Joint(Start,End)
cylinder{Start,End,.5 pigment {color <.9,.9,.9>}}
#end

#macro Trans(Start,End)
box {Start-.4*x-.4*z End+.4*x+.4*z pigment {color <.9,.9,.9>}}
#end

Joint(0,<0,1.5,0>)
Segment(<0,1.5,0>,<0,3,0>)
Segment(<0,3,0>,<1.5,3,0>)
Joint(<1.5,2.25,0>,<1.5,3.75,0>)
Segment(<1.5,3.75,0>,<1.5,5.25,0>)
Segment(<1.5,5.25,0>,<3,5.25,0>)
Trans(<3,4.5,0><3,6,0>)
Segment(<3,3,0><3,7.5,0>)

2007-02-01

Nikola Smolenski

own work