Gateway Points on Scara Parallel Robots. Ultrafast Pick and Place Operations

  • Andrea Martín-Parra
  • David Rodríguez-Rosa
  • Lis Corral-Gómez
  • Jesús Rosado-Linares
  • Fernando J. Castillo-García
  • Erika OttavianoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents Gateway Configuration as a new concept for fast operation of a Scara parallel robot with low energy consumption. The mechanism and its kinematic problem are presented together with dynamics model. The control scheme presented consist on a conventional PID and a pre-feedforward term. For a specific trajectory we have compared the results of a conventional configuration and two gateway ones. The simulated results demonstrate that Gateway Configurations provide a high-quality end-effector position tracking with a very low energy consumption. Although results are presented for a particular trajectory, in the case of a Scara parallel robot multiple trajectories can be found in terms of Jacobian matrix and elbows mechanism distance. The results presented here allow to design an ultrafast manipulator for pick and place operations.


Gateway configuration Scara robot Parallel robot Pick and Place 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Andrea Martín-Parra
    • 1
  • David Rodríguez-Rosa
    • 1
  • Lis Corral-Gómez
    • 1
  • Jesús Rosado-Linares
  • Fernando J. Castillo-García
    • 1
  • Erika Ottaviano
    • 2
    Email author
  1. 1.University of Castilla-La Mancha. Avda. Carlos III. Real Fábrica de ArmasCiudad RealSpain
  2. 2.University of Cassino and Southern LazioCassinoItaly

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