RoboticsRobotics

Robot Classifications by Robot Classifications by ManipulatorManipulator

Configurations for Configurations for Robot ManipulatorsRobot Manipulators

1. Cartesian1. Cartesian

2. Spherical2. Spherical

3. Cylindrical3. Cylindrical

4. Articulated4. Articulated

I. Cartesian GeometryI. Cartesian Geometry Also called rectangular, Also called rectangular,

rectilinear, gantryrectilinear, gantry Robot has the ability to move its Robot has the ability to move its

gripper to any position within the gripper to any position within the cube or cube or rectanglerectangle defined as its defined as its work envelopework envelope

(3L) Three linear movements(3L) Three linear movements

Cartesian/Gantry Cartesian/Gantry RobotRobot

Cartesian ApplicationsCartesian Applications Materials handlingMaterials handling Parts handling related to Parts handling related to

machine loading/unloading machine loading/unloading supply binssupply bins

Assembly of small systemsAssembly of small systems– Example: Electronic printed Example: Electronic printed

circuit board assemblycircuit board assembly

Cartesian/Gantry Cartesian/Gantry RobotRobot

Cartesian AdvantagesCartesian Advantages 1. Very large work envelopes are 1. Very large work envelopes are

made possible made possible 2. Overhead mounting leaves 2. Overhead mounting leaves

floor space for other usesfloor space for other uses 3. Simpler control systems3. Simpler control systems

Cartesian/Gantry Cartesian/Gantry RobotRobot

Cartesian Cartesian DisadvantagesDisadvantages 1. Access to the work envelope by 1. Access to the work envelope by

overhead crane or other material-overhead crane or other material-handling equipment may be handling equipment may be impaired impaired

2. Maintenance may be difficult2. Maintenance may be difficult

II. Cylindrical II. Cylindrical GeometryGeometry Robot can move its gripper within Robot can move its gripper within

a volume that is described by a a volume that is described by a cylindercylinder

(2L1R) Two linear movements, (2L1R) Two linear movements, one rotationalone rotational

Cylindrical RobotCylindrical Robot

Cylindrical AdvantagesCylindrical Advantages 1. Horizontal reach into 1. Horizontal reach into

production machines is possibleproduction machines is possible 2. Vertical structure of the 2. Vertical structure of the

machine conserves floor spacemachine conserves floor space 3. Rigid structure, allows large 3. Rigid structure, allows large

payloads and good repeatabilitypayloads and good repeatability

Cylindrical Cylindrical DisadvantagesDisadvantages 1. Most cannot rotate a full 360 1. Most cannot rotate a full 360

degrees because of mechanical degrees because of mechanical design limitationsdesign limitations

Cylindrical RobotCylindrical Robot

III. Spherical GeometryIII. Spherical Geometry Also called PolarAlso called Polar Spherical shaped work Spherical shaped work

envelopeenvelope (2R1L) Two rotations, one (2R1L) Two rotations, one

linear extensionlinear extension

Spherical RobotSpherical Robot

Spherical ApplicationsSpherical Applications Mounted on machinery to Mounted on machinery to

load/unload partsload/unload parts Spherical robots have lost Spherical robots have lost

practicality in the workplace due practicality in the workplace due to articulated (4 & 6 axes) robotsto articulated (4 & 6 axes) robots

Spherical AdvantagesSpherical Advantages 1. Fully capable of 360 degree 1. Fully capable of 360 degree

rotations.rotations. 2. Long horizontal reach2. Long horizontal reach

Spherical Spherical DisadvantagesDisadvantages 1. Lower profile, no linear 1. Lower profile, no linear

actuator for the Z-axisactuator for the Z-axis 2. Small work envelope2. Small work envelope

IV. Articulated IV. Articulated GeometryGeometry (3R) Three rotational movements(3R) Three rotational movements Two variants: vertically or horizontally Two variants: vertically or horizontally

articulated (SCARA-selective compliant articulated (SCARA-selective compliant articulated robotic arm)articulated robotic arm)

VerticallyVertically- additional rotary axis or - additional rotary axis or linear axis for the forearm link - Also linear axis for the forearm link - Also called Jointed-Arm, Revolute, or called Jointed-Arm, Revolute, or AnthropomorphicAnthropomorphic

HorizontallyHorizontally- two angular positioning - two angular positioning movements and one linear movementmovements and one linear movement

Vertically Articulated Vertically Articulated RobotRobot

Vertically Articulated Vertically Articulated RobotRobot

Vertically Articulated Vertically Articulated RobotRobot

Vertically Articulated Vertically Articulated RobotRobot

Vertically Articulated Vertically Articulated RobotRobot

Horizontally Articulated Horizontally Articulated RobotRobot

Horizontally Articulated Horizontally Articulated RobotRobot

Articulated Articulated AdvantagesAdvantages 1. Occupies a minimum of floor 1. Occupies a minimum of floor

spacespace 2. A good size-to-reach ratio, 2. A good size-to-reach ratio,

achieves more reachachieves more reach 3. High positioning mobility of the 3. High positioning mobility of the

end-of-arm tooling allows the arm end-of-arm tooling allows the arm to reach into enclosures and to reach into enclosures and around obstructionsaround obstructions

Articulated Articulated DisadvantagesDisadvantages 1. Has the need for more 1. Has the need for more

sophisticated control sophisticated control requirementsrequirements

2. Higher associated costs2. Higher associated costs Despite any disadvantages, Despite any disadvantages,

articulated robots dominate the articulated robots dominate the automated world today. They are automated world today. They are known for their speed and agility.known for their speed and agility.