← Back to gallery

Generated Robot Spec

SCARA Pick-and-Place

Vacuum EE · 600mm reach · 2kg payload

Prompt "SCARA robot, 600mm reach, payload 2kg, vacuum end effector for PCB assembly"
Open in Generator →
https://kinematos.polsia.app/r/scara-pcb-assembly

Spec

SCARA Pick-and-Place
Base Type Rotational
DOF ••••
End Effector vacuum gripper
Reach 0.6m
Payload 2kg

3D Preview — Click "Joints ▸" to pose

URDF Output

class="urdf-tag"><robot name="scara_pcb">
  class="urdf-tag"><link name="base_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.10" radius="0.08"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>

  class="urdf-tag"><link name="link_1">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.32 0.05 0.05"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_theta1" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="link_1"/>
    class="urdf-tag"><origin xyz="0 0 0.10" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-3.14" upper="3.14" effort="20" velocity="5.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="link_2">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.28 0.04 0.04"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_theta2" type="revolute">
    class="urdf-tag"><parent link="link_1"/>class="urdf-tag"><child link="link_2"/>
    class="urdf-tag"><origin xyz="0.32 0 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-2.6" upper="2.6" effort="15" velocity="6.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="z_slide">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.12" radius="0.02"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_z" type="prismatic">
    class="urdf-tag"><parent link="link_2"/>class="urdf-tag"><child link="z_slide"/>
    class="urdf-tag"><origin xyz="0.28 0 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-0.15" upper="0.0" effort="30" velocity="0.5"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="vacuum_cup">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.03" radius="0.025"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_theta4" type="revolute">
    class="urdf-tag"><parent link="z_slide"/>class="urdf-tag"><child link="vacuum_cup"/>
    class="urdf-tag"><origin xyz="0 0 -0.07" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-6.28" upper="6.28" effort="3" velocity="10.0"/>
  class="urdf-tag"></joint>
class="urdf-tag"></robot>