A New Position Detection and Status Monitoring System for Joint of SCARA

High-precision position detection of joint and status monitoring speed reduction gearbox (SRG) are two key technologies in the research development selective compliant assembly robot arm (SCARA). The existing schemes have some problems, such as large occupation space, high cost, complex implementation, lack monitoring, etc. Therefore, first, order to get accurate information when SCARA is powered up at first time, a new combined incremental encoder with unevenly distributed multiple indexing signals initial method proposed. Second, monitor operation SRG during positioning operation, real-time based on transmission error using dual general design principle has been given, various experimental results confirmed effectiveness proposed solution. advantage small occupied easy realization, low cost. not only realizes high-precision but also provides data for running state SRG.