Pick and Place Robots

Group Members:
Karen Mascarenhas
Mohammad Saad Siddique
Naomi DSouza
Wardah Sajid

TABLE OF CONTENTS
ABSTRACT....................................................................................................................................3
OVERVIEW....................................................................................................................................3
ARTICULATED ROBOT Mohammad Saad Siddique................................................................4
Introduction..................................................................................................................................4
Degrees of Freedom.....................................................................................................................4
Forward Kinematics.....................................................................................................................5
Link Parameters...........................................................................................................................5
SCARA ROBOT Naomi DSouza................................................................................................7
Introduction..................................................................................................................................7
Degree of Freedom......................................................................................................................8
Forward Kinematics.....................................................................................................................8
Link Parameters...........................................................................................................................9
CYLINDRICAL ROBOT Karen Mascarenhas..........................................................................11
Introduction................................................................................................................................11
Degrees of Freedom...................................................................................................................15
Forward Kinematics...................................................................................................................16
Link Parameters.........................................................................................................................16
SPHERICAL ROBOT Wardah Sajid..........................................................................................18
Introduction................................................................................................................................18
Degrees of freedom....................................................................................................................19
Forward kinematics...................................................................................................................20
Link Parameters.........................................................................................................................21
COMPARISON.............................................................................................................................24
REFERENCES..............................................................................................................................25
Cylindrical Robot.......................................................................................................................25
Spherical Robot.........................................................................................................................25
SCARA Robot...........................................................................................................................25

Page 2 of 26

ABSTRACT
This report consists of the classification; modelling and analysis of various kinds of mechanisms
for pick and place industrial robots. For each robot, this individual study takes into consideration
the working principles, degrees of freedom, industrial application, characteristics and
improvements. The mechanisms are modelled by using a CAD software and enabling analysis of
forward kinematics where a transform matrix is derived for each robot.

OVERVIEW
An industrial robot is designed for the purpose of moving parts, materials and tools in addition to
executing a variety of programmed tasks in production and manufacturing sector. Typical
industrial robots do repetitive jobs that are difficult, dangerous or dull without suffering from
fatigue and with great accuracy. These motions are determined by programming that specifies the
velocity, direction, acceleration, deceleration, and distance of a chain of coordinated motions.
There has been a considerable increase in the product quality and work output rate by the
introduction of robotics. Robots not only reduce the labor and capital costs but also reduces work
danger as they can be used for hazardous jobs. The robots are grouped according to the speed,
size and range of work envelope, payload capacity, number of axes and structural design.
Robotics has gained a lot of importance in the modern industrial world as they are used in almost
every industrial sector. Robots are used in warehouses to move objects around, to assemble parts
in the automotive industry, CNC machines and various other manufacturing processes. Robotics
have various advantages over human work force as they are more efficient and faster. They are
an important investment as over a period of time they become much cheaper than a human
working. Pick and place robots pick up parts and place them in a different location with great
speed and accuracy. They are extremely consistent and greatly benefit and increase output of
whichever industrial sector they are placed in.
Modern robots are composed of kinematic joints attached to a set of links and these robots utilize
an end effector or gripper to handle tools and objects. Robot kinematics consists of the
application of geometry to study the movement of kinematic chains in robotic systems.
The use of geometry enables the links of the robot to be modeled as rigid bodies and the joints to
work under the assumption of providing translation or pure rotation. A crucial tool in calculating
robot kinematics is the use of kinematic equations based on the chains that form the robot.
Forward kinematics uses the joint parameters to find the configuration of the chain .For serial
open chain robotic arms the configuration is found by the substitution of the joint parameters into
the forward kinematics equations.

Page 3 of 26

The most commonly used robots for pick and place applications are described below;

ARTICULATED ROBOT Mohammad Saad Siddique

Introduction
Robotics is the branch of technology that deals with the design, construction, operation,
structural disposition, manufacture and application of robots and computer systems for their
control, sensory feedback, and information processing. Many robots do jobs that are hazardous
for humans such as defusing bombs, mining, handling radioactive materials, exploring ship
wrecks and mining purposes.
Pick and place robots are a type of industrial robots which are widely used for material handling.
Pick and place robots provide safety in terms of both prevention of accidents and avoiding
injuries. The key factors for these robots are quality and efficiency which can be easily said is the
main fundamentals of manufacturing. Thus pick and place robots have been used for repetitive
material handling tasks which may be hazardous and time consuming. The tasks can be
performed with great accuracy, consistency, greater reliability and uniform speed.
Pick and place robots are used for a variety of transfer applications; these robots can pick objects
off a conveyer belt and then placing them in boxes for packaging. Certain articulated robots need
visual guidance due to complexity of process. There are many advantages of using pick and
place robots, these robots increase the efficiency of the work, also a very important factor is that
the labor costs are reduced when these robots are used as the play a considerable part in
decreasing production costs. The quality of the material also remains unhindered by the use of
the pick and place robots and the work rate increases considerably.

Degrees of Freedom
j

F= f i
i=1

N number of links = 4
J number of joints = 4
Number of fingers = 4
fi

= degree of freedom for each joint = 1

F Degree of freedom = 4
The planar pick and place robot has a total of four links including the motor and the base.
Revolute joints have been used to connect the links of the robot, a total of 3 revolute joints are

Page 4 of 26

used. The degree of freedom of this robot is 4, by applying the formula for an open loop robot [
j

F= f i ]
i=1

Forward Kinematics
Link Parameters
Links

i-1

li-1

di

0o

90o

L1

2
Page 5 of 26

0o

L2

0o

L3

Kinematic Diagram for the Robot

1 0 00
T0 = 0 1 0 0
0 0 10

0 00 1
1 0 0l 1
T1 = 0 1 0 0
0 0 10

1 0 0 0
0 0 1 0
0 1 0 0

1 0 00
0 1 0 0 0 0 0 10 0 0 1
0 0 10

cos 1 sin 1 0 0
sin 1 sin 1 0 0
0
0
10

0 00 1000 1

Page 6 of 26

1 0 0l 2
T2 = 0 1 0 0
0 0 10

1 0 00
0 1 000 00 1
0 0 10
1 0 0l 3
4
T3 = 0 1 0 0
0 0 10
1 0 00
0 1 000 00 1
0 0 10

1 0 00
0 1 00
0 0 10

0 00 1

1 0 00
0 1 00
0 0 10
0 0

sin 2 sin 2 0 0
sin 2 sin 2 0 0
0
0
10

0 00 10 00 1

sin 3 sin 3 0 0
sin 3 cos 3 0 0
0
0
10

0 1 0 0 0 10 0 0 1

SCARA ROBOT Naomi DSouza

Introduction
A 'Selective Compliance Assembly Robot Arm' also known as SCARA is an industrial robot that
has similar features and resemblance to a human arm. Due to its parallel-axis geography, the arm
is marginally flexible is the X-Y direction however, rigid in the direction of Z, inclusive of a
rotary movement at the gripper for intensive assemblies thus the expression: Selective
Compliant. This compliance pertains to the fact that these particular robotic arms have a very
stern vertical axis that provides support and ensures high support to the vertical plane. Since
SCARAs are tall, they consume too much headroom.

Figure 1

Through research it is found that majority of the SCARA robots constitute of four degrees of
freedom in which two are found at the elbow and wrist and rest as horizontal servo-controlled
joints that make up the shoulders. Since these robots have fast, accurate and repeatability
movements, they can be manipulated to have end effectors as pincers or magnets for various pick
and place applications for tasks that require electronic components insertion, moving numerous
objects or palletizing.
Page 7 of 26
Figure 2

The final SCARA was modeled and eventually animated using

Solid Edge;
The grounded cylindrical joint was constructed as
separate part. Then two rotary parts were created and
joined to the cylindrical base, as shown in Figure 2. The
centre rod, also known as the Quil was inserted on the
void and compliments a restricted Harmonic Motion. As
shown in Figure 3, Motors were applied at the joints to
trigger and restrict the rotary motions accordingly.
Transitional, Harmonic and Revolute Motions were
allocated to the Quil and Pincers for repeated
movements.

Figure 3

Degree of Freedom
Figure 4 and Figure 5 is a 3D sketch of the SCARA robot which displays the links, joints and
angles on them.

Joint 2

Joint 1

Joint 3 &
Joint 4 (quil)

Figure 4

Figure 5

It can be concluded that the SCARA model has;

4 Links

1 Grounded Cylindrical Joint (Link 0)

3 Revolute Joints

2 Transitional Joints

4 Axes

On application of the below formula the Degree of Freedom for a SCARA Robot can be
calculated;
Page 8 of 26

DOF =

fi
i=1

Where;
j: Number of Joints (3 revolute joints + 1 grounded cylindrical joint)
fi: DOF at each joints (1DOF at each revolute joint + 1DOF at the cylindrical joint)
DOF = (3 1) + 1 = 4

Forward Kinematics
Forward kinematics is the method of using kinematic equations for a robot to calculate the final
posture of the end-effector from given dimensions of joints and links.

Figure 6

Figure 7

Figure 6 and 7 show the Kinematic Denavit-Hartenberg (DH) criterion for SCARA Robot.

Link Parameters
i

di

ai

(Joint Angle)

(Link Offset)

(Link Length)

(Link Twist)

L1

L2

180

d3

d4

Links (i)

Page 9 of 26

Figure 8 SCARA ROBOT BLUEPRINT

From the above blueprint of a SCARA;

L1 =
542mm

L2 =
520mm

d3 = 385mm

d4 = 245mm

Assuming the angles according to modeling the SCARA on Solidedge for Case Study purposes;
1 = 300

2 = 90

4 = 180

Using the Standard DH Convention Matrice given below the final Transformation Matrices can
be calculated;

c i s i c i s i s i Li c i
s i c i c i c i s i Li s i
0
si
c i
di
0
0
0
1

{Where c = cos, s = sin}

Solving the conventions by substituting links and angles provided to the Matrix above
respectively;
O

T1

= A1 =

0.5
0.866 0
271
0.866 0.5 0 469.300
0
0
1
0
0
0
0
1

T 12 = A2 =

0
1
0
0

1 0
0
0 0 520
0 1 0
0 0
1

]
Page 10 of 26

T 23

= A3 =

0
1
0
0

1 0
0
0 0
0
0 1 385
0 0
1

T 34 = A4 =

1 0 0
0
0 1 0
0
0
0 1 245
0
0 0
1

Through a Matlab Code the Final Transformation Matrix (position of the end effector) was
calculated = A1 A2 A3 A4
A1 = [0.5, 0.866, 0, 271;
-0.866, 0.5, 0, -469.3;
0, 0, 1, 0;
0, 0, 0, 1]
A2
1,
0,
0,

= [0, 1, 0, 0;
0, 0, 520;
0, -1, 0;
0, 0, 1]

A3
1,
0,
0,

= [0, 1, 0, 0;
0, 0, 0;
0, -1, -385;
0, 0, 1]

A4
0,
0,
0,

= [-1, 0, 0, 0;
-1, 0, 0;
0, 1, -245;
0, 0, 1]

T4 = A1*A2*A3*A4

T=

0.500 0.866 0 721.320

0.866 0.500 0 209.300
0
0
1
140
0
0
0
1

Page 11 of 26

CYLINDRICAL ROBOT Karen Mascarenhas

Introduction
Another form of pick and place robot considered, is a cylindrical robot. The main purpose of
using cylindrical robots within an industrial sector is to handle machine related tools, conduct
assembly operations, spot welding and to handle die-casting machines. This specific robot has
axes that form a more cylindrical coordinate system. Moreover, cylindrical robots are usually
identified as a mechanism that is opposite to a Cartesian robot, this is because under the
cylindrical coordinate system, these kinds of robots mainly allow only a rotational movement.
[1]
However, looking into a vast majority of cylindrical robots there are several disadvantages taken
into consideration that have made the cylindrical robot obsolete. Firstly, the cylindrical robot
tends to have a reduced workspace as shown in Figure (1), where the robot is limited extending
left or right. Secondly, the robot is restricted as the end effecter cannot pick up an object directly
below the arm of the structure. [1][2]

Page 12 of 26

Figure (1) shows the ideal Cylindrical Robot workspace

On the other hand, there are several ways to alleviate these disadvantages. The cylindrical robot
is considered to be one of the fastest robots when compared to others and moreover, when
weighed against a SCARA robot, the cylindrical robot has relatively good access to machine
openings and cavities. Furthermore, when hydraulic drivers are implemented to the base of the
cylindrical robot, it makes the base incredibly powerful. Another two highlighted points that add
to its advantages is the robot is comparatively collision free and does not depend on gravity. [3]
[4][5]

Figure (2) shows the modified Cylindrical Robot structure

The above figure represents the modified cylindrical model when taking into consideration some
of the disadvantages of the ideal case. This model shows an horizontal arm fixed along two
vertical columns, which collectively is mounted on a rotating base. This main frame also consists
of an end effecter that is aligned facing the bottom of the structure. The horizontal arm has a
linear motion as it moves in and out of the prismatic joint. The same joint is mounted onto
another prismatic joint that moves up and down the vertical columns. Finally, the whole structure
Page 13 of 26

is mounted a square base that has a rotary joint that allows the arm to move freely in a circular
manner within the workspace limits.

Parts

1)

The first part of the robot considered is

the base of the modeled robot. The
base is usually grounded for stability
which is termed as Link 0. Moreover,
the base of the robot facilitates the
rotary movement of heavy objects
when fixed to the ground.

2)

The end effector is one of the main

components of the robot. This is
because at this point the object is
picked up and transferred to the end
position. The rotary plate is connected
to the horizontal component which
allows the fingers to reach destination.
The plate also allows the fingers to
translate in order to get a better grip on
the object.

3)

This vertical column provides the

horizontal component to move in a up
and down motion which helps the end
effector reach the object, within the
confined space. Moreover, this vertical
column is attached to base of the
model, thus allowing the column to
rotate.

4)

This horizontal components is

connected to the end effector and the
vertical column. It's a translational
movement along the horizontal axis.
This prismatic joint allows the fingers
of the robot to pick any object in the
left or right direction.
Page 14 of 26

Lastly, this part of the robot is a

prismatic joint that connects the
vertical column to the horizontal
component. It moves along the vertical
axis and at the same time it can also
translate along the horizontal axis.

5)

Degrees of Freedom

Figure (3)

Figure (4)

The degrees of freedom for this model can be determined by considering the number of links (n)
and the number of joints (J) of the cylindrical robot. As shown in Figure (3), there appears to be
two revolute joints, one at the base of the robot and the other at the end effector. On the other
hand, there are three translational joints, the vertical and horizontal joint and lastly the fingers.
The degrees of freedom can calculated by the summation of the joints and degree of freedom of
each joint (fi),
J

F= f i
I=1

Therefore,
F=1+ 1+ 1+ 1+1=5

Page 15 of 26

Forward Kinematics

The above diagram illustrates the joints and axes of an ideal cylindrical robot. In order to
determine the Forward Kinematic analysis it is imperative to tabulate the number of links, angles
of the links with respect to the origin and X axes about Z, distances of the links with respect to
the X axes along Z and the link twists about the Z axes, [8]

Link Parameters
Link
1
2
3

Ai
0
0
0

i
0
-90
0

Di

i
*

D1
D2*
D3*

1*
0
0

Table (1) tabulates the respective angles and distances within the robot

The starting point O0 of the robot along the Z 0 axis and the Xo direction are considered to be
arbitrary. Even though the O0 point is located randomly, it is possible to consider the position of
O0 to be at joint 2. Xo axis is considered to be perpendicular to the page, additionally it appears
that Z1 and Z0 are coinciding which leaves the O1 at joint 1. Since 1 is taken as 90, the distance
D1 is 0. Moreover, as Z1 and Z2 meet, it affect the origin O2 which is positioned at this
intersection. In order to make 2 equal to 0, the X2 axis has to be parallel to X1. [9] The following
standard matrix for each link obtained by the following 4x4 matrix,

Page 16 of 26

cos1 sin 1
X 01 = sin1 cos 1
0
0
0
0

0 0
0 0
0 0
1 D1

] [
,

1 0 0 0
0 0 1 0
X 12=
0 1 0 D2
0 0 0 1

] [
,

1
0
X 23=
0
0

0
1
0
0

0
0
1
0

0
0
D3
1

[7]

Where the final transform matrix is derived,

cos 1 0 sin 1 sin1 D3

sin 1 0
cos1
cos1 D3
X 03 =X 01 X 12 X 23=
0 1
0
D 1+ D 2
0
0
0
1

][

cos1 (0) 0 sin1 (0) 1 15

0 0 1 15
sin1 (0) 0
cos 1(0) 0 15 = 1 0
1
0
0
1
0
37
0
1
0
22+15
0 0
0
1
0
0
0
1

Where, D1 is taken as 22cm, D2 is taken as 15cm and D3 is taken as 15cm.

Page 17 of 26

SPHERICAL ROBOT Wardah Sajid

Introduction
Pick and place robots increase the production rate by speeding up the process of picking up and
placing parts in new locations. They are most commonly used in assembly lines where repetitive
and complicated tasks need to be executed with accuracy. A spherical or polar robot can be used
as a pick and place robot in numerous industrial applications. Spherical or polar robot arms are
built as stationary robots with near spherical work envelopes. They are considered to be more
sophisticated than cylindrical or Cartesian robots with most modern industrial robots being a
derivative of the original polar robot. Spherical robots hold a special place in history since they
were one of the oldest robots. The Stanford arm depicted below is one such example and it has
five rotary joints and one linear joint. It was designed in 1969 and was extremely vital in creating
the first knowledge base for robot control.

Stanford robot arm

Overview and parts of the robot

Different views of the robot:

Parts of the robot

Page 18 of 26

Degrees of freedom
The degrees of freedom of a robotic arm are considered to be equal to the number of independent
parameters which are required to uniquely define its position in space at any given time.This arm
is an open chain serial robot hence the degrees of freedom can be calculated:
j

F= f i
i=1

Where the number of degrees of freedom of the robot is represented by F, j=number of joints and
fi =degree of freedom of the ith joint.
F=3 x 1 = 3 degrees of freedom DOF.
The robotic polar arm is built as a stationary assembly with three degrees of freedom (DOF).
These three degrees of freedom represent the ability of the robot to orient itself about a specified
axis. A robot arm with n joints has n+1 links because each joint will connect 2 links. This
spherical robot arm has 3 joints hence it has 3+1 = 4 links. Conventionally, the joints are
numbered from 1 to n and the links are numbered from 0 to n where the base is link zero. The
base link zero is fixed and does not move when the joints are actuated.

Page 19 of 26

The robotic arm is composed of four links and three joints. The links can be defined as the solid
structural members of the arm and the joints are the movable components that correlate between
the two. This robot has a fixed circular base (1), a rotating shoulder (2), a rotating elbow (3) and
a slider with an electromagnetic end-effector (4) that moves in a linear manner. The positioning
of the polar arm is done in the workspace with the aid of joint rotation and linear movement. As
depicted above, the polar arm consists of two revolute joints and one prismatic joint which
allows the robot to rotate and point in various directions increasing the work envelope and reach
out some distance with the linear bearing slider and pick up objects.

Forward kinematics
Forward kinematics is used to find the relationship between the individual joints of the robotic
arm and the position and orientation of the end-effector. The position and orientation of the endeffector is determined from the joint angles. The chief objective of conducting a forward
kinematic analysis is to determine the cumulative effect of the entire set of joint variables. To
perform a kinematic analysis, coordinate frames are assigned rigidly to each frame. The most
common method used conventionally for assigning reference frames is the Denavit-Hartenberg,
or D-H convention.In this convention, each homogeneous transformation matrix Ai is
represented as a product of four basic transformations. Four parameters are used in this analysis
with a= link length,=link twist, d=link offset, and =joint angle.

Page 20 of 26

Kinematic Scheme

Link Parameters
Links

a i-1

i-1

-90

600

-90

-90

120

The spherical robot arm was assigned reference frames and the D-H parameters were found. The
A matrices were then calculated using Matlab analysis and are detailed in the appendix of the
document. The T30 matrix which describes the pose of the end-effector relative to base can finally
be calculated using the formula below;
T30=T1T2T3
The T30matrixwas obtained to be
0 0 1 120
0 1 0 0
1 0 0 600
0 0 0 1

Page 21 of 26

Applications
The spherical (polar) robotic arm has many versatile applications. Besides the application of
pick and place, it can be used for handling at machine tools, die casting, spot welding, fettling
machines, etc and be financially beneficial. The primary application of this arm in specific is the
picking up of multiple industrial transformer core lamination plates in the transformer core
manufacturing industry. In the industrial transformer core assembly process, major
productivity gains can be achieved by utilizing a robotic gripper that is able to handle, and
accurately position, multiple transformer cores plates. With the addition of the electromagnetic
gripper, ferromagnetic materials such as steel and iron can be picked up easily and placed where
required.
Using an electromagnetic gripper also gives the advantage of extremely fast pickup time when
compared to a conventional gripper. The spherical work envelope and the linear movement of the
slider nearly covers the entire 360 area around the arm enabling the arm to pick up objects from
hard to reach places. The pivot axis in the vertical plane permits access to points at base level or
below it.Some of the disadvantages of a spherical robot with an electromagnetic gripper is the
small size of the work envelope when compared to the size of the arm, gripped work part might
slip out when using the magnet and an inefficient long low design.
Transformation matrix

cos sincos sinsin

sin coscos cossin
0
sin
cos
0
0
0

acos
asin
d
1

A1 matrix between reference frame zero and 1

A1=
1 0 0 0
0 0 1 0
0 1 0 600
0 0 0 1

A2 matrix between reference frame 1 and 2

A2=

Page 22 of 26

0
0 1
1 0 0
0 1 0
0
0 0

0
0
0
1

A3 matrix between reference frame 2 and 3

A3=
1
0
0
0

0
1
0
0

0 0
0 0
1 120
0 1

T30=A1A2A3
The T30 matrix was obtained to be
0 0 1 120
0 1 0 0
1 0 0 600
0 0 0 1

Matlab code
theta=0;
alpha=-pi/2;
d=600;
a=0;
%find A1 matrix between reference frame zero and 1
A1=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
theta=-pi/2;
alpha=-pi/2;
d=0;
a=0;
%find A2 matrix between reference frame 1 and 2
A2=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
theta=0;

Page 23 of 26

alpha=0;
d=120;
a=0;
%find A3 matrix between reference frame 2 and 3
A3=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
%Overall transformation matrix
T3=A1*A2*A3

COMPARISON
S.No

Robot

Articulated

Cylindrical

SCARA

Spherical

1. Precise
access
within
cavities and
2. Decreases
machine
manufacturin
openings
g costs.
2. Quick
Movements

1. High
Repeatability

1. Very fast pick

and place
since endeffector is an
electromagnet
2. Nearly
spherical
workspace so
better
mechanical
flexibility.

1. Expensive
set up

1. Compact
Structure
restricts
motion.
Preferred for
vertical axis
assemblies

Model Picture

No of Links
Degree of
Freedom

1. Ideal for
Hazardous
condition.

Advantages

Disadvantage
s

2. Limited
workspace

1. Reduced
Worked
Space
2. Cannot
reach an
object if its

2. Rapid
movements at
pick and place
operations

1. Not
appropriate
for handling
liquids
2. 2 axes with
relatively low
Page 24 of 26

directly
under the
robot

1. Automobile
Manufacturin
g
Applications

2. Mining
Industry.

1. Spot
Welding
2. Packaging
Application
s

only.
2. Less flexibility
compared to
articulated
robots

resolution that
varies with
the arm length

1. Precision in
high speed
assembling

1. Picking up of
industrial
transformer
core
2. Spray Painting
lamination
plates
2. Die casting

After conducting a thorough comparative analysis, the most suitable robot that has been chosen
is the articulated pick and place industrial robot. This robot speeds up the manufacturing process
and is very accurate and reliable while in motion and more importantly it does not fatigue in any
condition. Furthermore, the articulated robot has an open loop mechanism with multiple degrees
of freedom which makes it the most flexible robot compared to the rest.

REFERENCES
Cylindrical Robot
1. http://www.brighthubengineering.com/robotics/29395-base-bodies-of-robots-cylindricalbase-robot/
2. http://www.oocities.org/haruspex17/Structural_Configurations_of_Manipulators.pdf
3. http://www.industrial-electricity.com/4_Cylindrical_Robots.html
4. http://www.allonrobots.com/cylindrical-robot.html
5. 'Robotics' by Appu Kattan. 1.5 Manipulation of Robot Components
6. http://prime.jsc.nasa.gov/ROV/types.html
7. https://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forwardkinematics.pdf
8. http://www.cs.columbia.edu/~allen/F13/NOTES/forwardspong.pdf
9. http://ttuadvancedrobotics.wikidot.com/forward-kinematics
10. http://www.ijest.info/docs/IJEST10-02-09-143.pdf
Page 25 of 26

Spherical Robot
1. http://www.allonrobots.com/spherical-robots.html
2. http://prime.jsc.nasa.gov/ROV/types.html
3. http://www.researchgate.net/publication/3100480_Electromagnetic_flatfaced_robot_gripper_for_handling_multipleindustrial_transformer_core_lamination_plates
4. http://courseweb.stthomas.edu/tpsturm/private/notes/qm380/robotype.html

SCARA Robot
1.
2.
3.
4.
5.
6.
7.

http://www.intechopen.com/source/html/15855/media/image2.png
http://open-robotics.com/report/3-2-2-jacobian-of-a-2-dof-planar-robot/
http://www.emeraldinsight.com/content_images/fig/0330280208015.png
http://en.wikipedia.org/wiki/SCARA
http://www.processonline.com.au/uploads/Image/UPF1S2-1-SCARARobot.jpg
http://9tailedjackal.deviantart.com/art/Robotic-Arm-Design-209623336
http://www.academia.edu/5134376/Kinematic_Modeling_and_Simulation_of_a_SCARA_Ro
bot_by_Using_Solid_Dynamics_and_Verification_by_MATLAB_Simulink
8. http://www.slideshare.net/DamianGordon1/forward-kinematics

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