A H-Scara Mini Robot - a Dual Parallel Kinematics Mini Manipulator

This paper represents a H-Scara mini robot and an assembly cell where it is used. The robot is targeted by size and other features to fit into the desktop and micro Factory concept developed by Tampere University of Technology (TUT-muF). The robot has four degrees of freedom. It is a combination of two parallel kinematic structures, which are connected into series. This way the moving mass has been reduced, reachability of the robot extended as far as possible and workspace kept as clear as possible from wires and other mechanical parts like motors. TUT-muF is a concept defining modular reconfigurable assembly system for desktop and micro factories. This is achieved through specifying system architecture, module dimensions, interfaces and other aspects of the concept. This way the modules can be easily and quickly integrated as functional micro manufacturing system. The presented robot is intended to be one module fitting in the concept and to demonstrate at the same time the features of the TUT-muF concept.