Development of the SCARA
Makino Automation Research Institute, 1-24-14-703 Koenji-Minami, Suginami, Tokyo 166-0003, Japan
The Selective Compliance Assembly Robot Arm, or SCARA, is an industrial robot typical of those widely used in assembly processes. It was invented by Professor Makino of the University of Yamanashi, Japan, the author of this report, and developed by him in collaboration with his colleagues and industrial partners. The first prototype of the SCARA robot was built in 1978. Fundamental studies were done on the characteristics and usability of this prototype and the second one, built in 1980. In 1981, some industrial partners began to market their own versions of the SCARA. These models were called SCARA-type robots. This report recounts mainly the first stage of the development of the SCARA.
-  H. Makino and N. Furuya, “Selective compliance assembly robot arm,” Proc. 1st Intern. Conf. on Assembly Automation (ICAA), pp. 77-86, Brighton, Mar. 25-27, 1980.
-  H. Makino, “Smart cam application to robot control,” Assembly Automation, Vol.19, No.1, pp. 39-46, 1999.
-  H. Makino and N. Furuya, “Motion control of a jointed arm robot utilizing a microcomputer,” Proc. 11th Intern. Symp. on Industrial Robot (ISIR), pp. 405-412. Tokyo, Oct. 7-9, 1981.
-  H.Makino and N. Furuya, “SCARA robot and its family,” Proc. 3rd Int. Conf. on Assembly Automation (ICAA), pp. 433-444, Stuttgart, May 25-27, 1982.