Design of a multipurpose SCARA-like parallel robot

This design is based on a planar five-bar mechanism and combines the characteristics of parallel robots and SCARA robots to design a multipurpose SCARA-like parallel robot. Firstly, through requirement analysis, the actions that the multi-purpose SCARA-like parallel robot needs to perform are determined. Secondly, for the actions of this type of robot, mechanical structures are carried out based on the planar five-bar mechanism combined with parallel robots and SCARA robots, including the design of horizontal motion mechanism, vertical motion mechanism, and equipment support. Then, kinematic analysis, both forward and inverse, is conducted on the designed horizontal motion mechanism. Through analysis, it is concluded that with two motors, the horizontal motion mechanism can achieve movements forward, backward, left, and right, as well as predefined paths. Finally, a prototype is designed to verify the correctness of the analysis results and the rationality of the design.