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+# Epson SCARA Robot Overview
+tag: *Epson SCARA* *机械臂* *执行* *机器人部件*
+
+---
+- Epson G1
+![Epson G1](../meta/pic/epson_scara-G1.jpg)
+
+- Epson G3
+![epson_scara-G3](../meta/pic/epson_scara-G3.jpg)
+
+- Epson G6
+![epson_scara-G6](../meta/pic/epson_scara-G6.jpg)
+
+- Epson G10
+![epson_scara-G10](../meta/pic/epson_scara-G10.jpg)
+
+- Epson G20
+![epson_scara-G20](../meta/pic/epson_scara-G20.jpg)
+
+
+Epson在机器人领域是做的比较好的一家。经常会听到Epson Robot和安川，发那科等公司一起出现。
+
+他们也是一家做机械臂和控制器解决方案的公司。其实
+他们家很著名的就是这款Scara机械臂。Scara（Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm）的意思是选择性柔性平面机器人，就是这个机械臂的每个关节在XY平面方向上是带有一定柔性（可Back Drive），在Z方向上是完全刚性的。
+
+Scara机构示意图：
+![scara 示意图](../meta/pic/SCARA_configuration.png)
+
+这种机械臂的好处是可以在XY平面运动的非常快（由于运动速度叠加）
+
+## 硬件
+
+由于硬件款式较多，先挖个坑之后补（2017.11.13）
+
+## 应用场景
+码垛，生产线搬运，较精密移动零件。
+
+## 拓展
+[Epson Scara Robot 官网](http://robots.epson.com/products/1)
+
+[wiki-Scara](https://en.wikipedia.org/wiki/SCARA)