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.