 Good day everyone. This is Rushad Mistri from the Mechanical Engineering Department, Valjanistar Friknaji Sholapur and today I will be discussing the remaining robot configurations in this particular lecture series on robot configurations. At the end of the session, the learner will be able to explain SCARA and parallel configuration and identify applications of this configuration based on their features. So, we studied spherical, cylindrical and the joint arm configuration in the previous lectures and today we will wind up by discussing SCARA and parallel, which is also called as delta configuration. SCARA configuration is one of the most widely used configurations in the electronics industry, especially for assembly tasks. Now in 1981, the Japanese company Sanyo and Pencil and NEC actually together worked on a new concept for assembly robots and this was actually termed as SCARA which stands for Selective Compliance Assembly Robot Arm and it was developed by Hiroshio Makino, who was a professor at the University of Yamanashi and the professor along with the Japanese companies did extensive research and then they came up with this particular configuration, very specifically suited for assembly operations for the electronics industry. It is actually a type of cylindrical configuration. The arm is rigid in the z-axis and it is pliable in the x-y-axis and this allows it to travel very fast in the x-plug pain and very quick up and down movement in the vertical direction of the z-axis. Here you can look at the configuration. See this is actually a rotary joint, this is also a rotary joint. So, even this configuration is often turned as RRR configuration, but not to be confused with the jointed arm because in the in case of SCARA all jointed these joints are vertical, they are on the vertical axis. So, these are the robots in the first three principle axis from a cylindrical coordinate systems. It is also called as RRR configuration, but like I said unlike the jointed arm this has all joints in the vertical direction. It is a combination I can say of cylindrical and revolute configurations operating in a horizontal plane. The control solution is quite simple compared to jointed arm and it has become extremely popular in the electronics industry. Here are some sample images of the SCARA configuration. There are several top manufacturers, Epson actually being one of them, Epson actually specializes in this and the delta configuration. It does not make it hardly makes any other configuration, but specializes very specifically in the SCARA configuration. So, primarily applications like I said were meant for the electronics industry, but we can generalize that it is meant for pick and place and any packaging operations typically involving a vertical movement. So, it can be used for you can say the advantages of SCARA configuration are it is extremely vulnerable within the work area very fast very high accuracy and it has a decent payload in the vertical range. When I say decent payload let me tell you that this configuration will rarely be built in payload in excess of 10 kg. Typical payloads actually range from 0.5 kg to around 10 kg. You can say another feature is it is not as dexterous compared to other configurations and it is not really designed for heavy payloads. So, you can consider it as a disadvantage, but to be very honest that is not really the intent in building this particular robots. These are almost typically four access configurations because three being the first three access and one access obviously is that of the end defector which typically has an up and down movement. So, what can you think of possible applications of these configurations? Have you seen this particular configuration or TV or let us say in a previous class try to try to recall if you have come across this particular configuration anywhere before. Welcome back. Now, just let us look at some applications of these SCARA robots. Now, one at the left you will see it is the SCARA robot being used for a general pick and place task along with you can say an image sensor which is a camera on the top. Now, you can see the animation at the right shows you a SCARA robot typically involved in an assembly kind of a task and remember these are just representative animations not real world examples, but they give you an idea of how this configuration actually works. And one more thing is this has actually been slowed down significantly in practice. The SCARA configuration is very fast and you will see this when you actually watch the videos which I have shared in the link later. The SCARA robot application typically involves actually machine tending as well and this sketch gives you an idea. So, here you have a SCARA robot which is tending a machine tool which may be which is kind of a lathe machine and it can pick up one of the work piece put it on the conveyor and so on so forth. So, this is a very typical application of a SCARA robot when used for machine tending work. This is another application of SCARA robot in which you can see certain parts being fed to the robot on the conveyor then it picks up the part and puts it into the part feeder. So, this is again a sketch demonstrating an application of a SCARA robot. Another similar application for inspection and also sorting. So, this is one more application the SCARA robots are very widely used. Now, let us move to the last configuration in this that is the parallel or the delta configuration. A parallel configuration uses several computer control serial chains to support a single platform or an effector. And the most popular parallel manipulator is obviously the Shevard platform which finds application in aircraft simulators. And they are made up of six linear actuators that support a movable base for the tank or the aircraft. So, aircraft simulators were the ones they were more popular, but now they use as tank and even automobile simulators. This is you can say a sample images of delta parallel configuration by different manufacturers. The one on the left being Fanook, the center one being adept and the one at the right from ABB. Now, let us see why they are called parallel configurations. The parallel distinction as opposed to serial is because the end effector of this linkage is connected to is based by a number of links usually in between three to six and a separate independent linkages which work in parallel. Hence, the word parallel they are not in series like the other manipulators. So, here the word parallel is actually from the topological states. Nowadays, people prefer calling it delta because if you look from the front it appears as a triangle which is basically the Greek alphabet delta. The parallel manipulator is designed so that each chain is usually short simple and hence can be rigid again unwanted moment. That is also one of the reason this configuration is very accurate compared to serial configurations where the error can cumulate. Control calculations involving forward universe kinematics can be tricky compared to others. That is one of its limitation. It is less dexterous compared to the jointed arm. It is not really very maneuverable especially like you cannot reach around obstacles. It is more suited when the approach is from the top. It is also not suited for complex tasks such as welding and spot welding unless for very small parts. So, the word arc welding and spot welding can be a bit too vague in the sense. So, even though it can be used it is not the most widely used application for delta configuration. So, typical applications flight simulators, tank simulators, automobile simulators as obviously the shared word platform and assembly tasks other places pick and play tasks in electronics and the food industry. Now, here you have an image of a pick and place task being performed by parallel robots. Though a lot of textbooks do include a lot of generic applications like as it is highly unlikely that this will be used for some kind of heavy duty application compared to jointed arm configuration. Again, these are some sample applications of the delta configuration. You will see most of the even sample images are from the electronics industry. That is why that is one of the reason it is very widely used in the electronic industry. Again, a few applications. Here it is used for pick and place task with vacuum grippers attached to it. So, what is you can say the state of the art in parallel or delta robots? It is basically in high speed high accuracy positioning devices especially in PCB assembly it is extensively used. It is also used in high speed precision milling machines and as micro-malamirators mounted on other configurations. So, you will find this being mounted on other configurations. These are typical some of the state of the art applications for the parallel configuration. If you want to look at sample videos, I have included them in this link. I definitely would recommend you to go through it and see them in action in real time. Again, when it comes to robot, I definitely recommend the websites of the manufacturers especially Yamaha and Omron who have generous amount of information to share on this car or platform along with the standard textbooks for this particular subject. Thank you very much.