Copyright © 2000 University of Ulster School of Electrical and Mechanical Engineering Page 1 of 12

Robot Geometry

Notes for lecture given on week 2

Table of Contents

INTRODUCTION 2

DEGREES OF FREEDOM 2

3-D spatial movement 2

Joint types 3

Definition of Degrees of Freedom for Robots 3

ROBOT CONFIGURATIONS 4

Cartesian Configuration 4

Cylindrical Configuration 5

Polar Configuration 6

Jointed Arm Configuration 6

SCARA Configuration 7

Partial Spherical (pendulum) 8

Multiple Joint Robot or Spline Robot 8

Wrist Design 9

Robot Design Considerations 9

CONCLUSIONS 10

APPENDIX 11
Useful Addresses 12

BIBLIOGRAPHY 12
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Introduction
The notes given in week 1 provided an overview of the robotics technology and
detailed the points that must be considered for the implementation of such a system.
A jointed arm robot was used to illustrate a typical robot joint configuration. The
terms used to characterise the robot description will be further expanded in this
section to include other configurations. Although many robots can be characterised
into individual groups, in reality these groups overlap into many subgroups.
There are seven major configurations that will be covered in this section. The
manipulator arm configuration is specified from the:
• Motion required,
• Actuation, hydraulic, pneumatic and servo motors,
• Range or reach of the arm, and
• Payload capacity of the arm.
All of these points except for the actuation method will be discussed at length. There
are four ways of describing the geometry of a robot arm:
• Isometric sketches,
• Specific names, e.g. SCARA, jointed arm etc.,
• A series of letters which define the types of joints in the linkage, and
• Standard kinematic symbols.

Degrees of Freedom
3-D spatial movement
There are six degrees of freedom available with respect to a 3-D co-ordinate frame as
shown in Figure 1 (a). There is rectilinear motion as shown in Figure 1 (b), and rotary
motion about each of the axis Figure 1 (c). This spatial representation is often termed
‘six-dimensional’ space, as each axis provides both a rectilinear and rotational
element of motion. This notion of six-dimensional space is important for robotics and
will be used throughout this section of work.

z
θz

y
θy
(b)
θx x

(a) (c)
Figure 1: (a) six dimensional space definition, (b) rectilinear motion in x, (c) rotary
motion in z.
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Joint types
Pose is a term used to describe position and orientation of a robot arm. To place an
end effector in any pose requires six degrees of freedom and therefore six independent
joints between each linkage. There are however cases where six degrees of freedom
are not essential to provide the required motion. For example five degrees of freedom
is sufficient for most arc-welding operations; rotation of the welding torch about its
axis is not essential for the welding operation. Extra joints do provide additional
dexterity for more complex operations, but usually six are sufficient.
A joint that connects a pair of linkage mechanisms is known as a kinematic pair.
There are two main types of joint met in robotics – prismatic and revolute. In both
cases these joints are restricted to a single axis of movement, either rectilinear or
rotational. Single axis movement joints present less difficulty for the control of the
robot motion. Other joints that simultaneously move in two axis are available, for
example the doverential used for driving in screws etc.. For the work presented in
this module only the prismatic and revolute joint description are considered.
The prismatic joint ‘P’, is a sliding joint with no rotation possible. A hydraulic
cylinder is not a prismatic joint, for both rotation and sliding are possible; a square
pneumatic cylinder as shown in Figure 2 (a) is a good example. Another good
example is a slide-way similar to those used in milling and turning machinery. A
revolute joint ‘R’, has one degree of freedom, but unlike the prismatic joint the
movement is rotational about an axis as shown in Figure 2.

(a) (b)
Figure 2: (a) prismatic joint type with schematic symbols, (b) revolute joint type with
schematic symbols.
The schematic symbols shown in Figure 2 (a) and (b) and the letter descriptions of
the joints will be used throughout this section of work for the identification of
individual robot types.

Definition of Degrees of Freedom for Robots

There are several definitions used to describe the degrees of freedom (dof) in a robot
arm. Defining the dof by the number of joints on the robot arm is incorrect; a seven
joint robot arm will hardly have seven dof, only six are available in our definition of
six dimensional space. It is also possible to have a robot with six joints and only three
degrees of freedom as shown in Figure 3. Each of the revolute joints have axes which
are parallel. The only movement available to this configuration is rotation in the z-
axis and movement in the x-y plane, assuming that the x-y plane is the plane of the
paper.
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Figure 3: Six-axis manipulator with only three degrees of freedom.

The number of dof available influences a robots ability to orientate the end-
effector in six dimensional space. Although redundant joints exist in the above
configuration in Figure 3, the extra dexterity provided may be necessary to correctly
orientate the end-effector.
Most robots are constructed in a similar fashion to that shown in Figure 3 using a
single chain of links and joints. These links and joints are described as a series of
prismatic and revolute joints, counting from the base out. Each prismatic and revolute
joint constitutes one degree of freedom, providing it is independent from the previous
joint. Independence exists if the axes are displaced i.e. they are not collinear, or if the
axes are at an angle i.e. they are not parallel.
The design of a robot arm affects the reach, working volume, accuracy and
compliance of the robot – all-important considerations when picking a robot for an
industrial task.

Robot Configurations
Each of the robot arm configurations are listed within this section. The design of the
robot wrist for the orientation of the end-effector is given at the end of this section.
Therefore in the majority of cases the robot arms are initially illustrated with only
three degrees of freedom for the positioning, but not the orientation of the end-
effector.

Cartesian Configuration
An isometric sketch shown in Figure 4 (a) illustrates a typical Cartesian configuration.
The robot consists of three orthogonal slides or prismatic joints. The arrangement of
these joints is shown in Figure 4 (b) the kinematic designation of which is PPP. Extra
joints may be required at the wrist. The work volume created by this arrangement is
shown in Figure 4 (c). The work volume describes the region within which the robot
can position the end-effector. The work volume depends on the robot geometry and
the payload capacity. For instance a robot may not be able to support large weights at
the extremities of the work volume, and therefore may have two work volume
definitions.

(a) (b) (c)

Figure 4: Cartesian configuration, (a) isometric sketch, (b) schematic, (c) work
volume
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Movement is obtained by displacing the arm in each axis, x, y and z. Movement

in a single axis or a straight line requires displacement in only one axis. A circular
motion is more difficult to obtain, requiring a complex set of combined motions. Two
varieties of this configuration are common, the slideway shown in Figure 4 (a) and the
gantry type mounted overhead. This Cartesian geometry provides an extremely
strong rigid, and therefore accurate, robot, which is easy to visualise and can utilise
pneumatic actuators in simple pick and place operations. The geometry of the robot
requires a large floor area, which is greater than the work volume.
Typical applications for this geometry include:
• Assembly, using smaller robot types,
• Palletising and unloading machine tools, using larger machines, and
• Handling, using the gantry configuration.

Cylindrical Configuration
An isometric sketch shown in Figure 5 (a) illustrates a cylindrical robot configuration.
The cylindrical arm has a revolving waist, on which is mounted a pillar from which
the arm slides up and down and in and out on prismatic joints. The joint arrangement
is shown schematically in Figure 5 (b). The kinematic designation for this geometry
is RPP. As the name of the robot suggests the work envelope is cylindrical in form as
shown in Figure 5 (c). Although a full cylinder is shown in Figure 5 (c) the complete
robot work volume may be restricted at the back of the machine.

(a) (b) (c)

Figure 5: Cylindrical configuration, (a) isometric sketch, (b) schematic, (c) work
volume
Individual axes can obtain rectilinear motion in a vertical or horizontal direction
and rotary motion about the base. However a rectilinear motion from left to right
would require a complex set of motions. Cylindrical robots are very robust and have
a good work area to floor area ratio. Typical operations include:
• Loading and unloading machine tools
• Palletising
• Material transfer within a lab situation.
The cylindrical robot configuration is suitable for these applications because the robot
can service may machines when they are arranged around the robot in a circle. In
these applicatinons changes of orientation are not usually required, therefore the wrist
will have few, if any revolute joints.
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Polar Configuration
The polar or spherical configuration of robot was one of the earliest machine
configurations, although few are now designed in this manner. An isometric sketch
shown in Figure 6 (a) illustrates this configuration. The polar robot has a revolute
waist and shoulder with an extending arm. The joint configuration is shown
schematically in Figure 6 (b). The kinematic designation is given as RRP.
Additional joints at the machine wrist are required to ensure the correct orientation of
the parts. The work envelope is partially spherical in form. The limitations of
shoulder rotation and arm reach limit the design from full spherical motion.

(a) (b) (c)

Figure 6: Polar configuration, (a) isometric sketch, (b) schematic, (c) work volume
These robots are robust and the large work volume enables the machine to pick up
objects from the floor, however they still require complex control for rectilinear
motion. Typical applications for this robot include:
• Handling, of heavy loads e.g. casting and forgings, and
• Palletising

Jointed Arm Configuration

This configuration is also known as ‘revolute’, ‘jointed arm spherical’ or
‘anthropomorphic’. An isometric sketch of the robot arm configuration is shown in
Figure 7 (a). The arm consists of three revolute joints, the waist utilising a vertical
rotation the shoulder and elbow using a horizontal rotation.

(a) (b) (c)

Figure 7: Jointed arm configuration, (a) isometric sketch, (b) schematic, (c) work
volume
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The revolute joint combination is shown schematically in Figure 7 (b). The kinematic
designation for this configuration is RRR. For the correct alignment of the end-
effector another three revolute joints are required. The work volume is also spherical
in nature with a more comprehensive coverage when compared to the polar
configuration. The base of the robot occupies little space in comparison to the work
volume, however the use of three revolute joints requires complex control for
rectilinear motion. And although the robot arm can reach over and under objects it is
not very rigid at full extension.
The dexterity of this robot configuration makes it suitable for:
• Spot welding,
• Arc welding, and
• Surface coating, including painting and application of adhesive.

SCARA Configuration
The Selective Compliance Assembly Robot Arm or SCARA is the most common
configuration of assembly robot. An isometric sketch shown in Figure 8 (a) illustrates
the robot configuration. The arm consists of two horizontal revolute joints at the
waist and elbow, and a final prismatic joint. The joint configuration is shown in
Figure 8 (b). The kinematic designation of the arm is RRP. An additional revolute
joint is normally required ensuring the correct alignment of the end-effector. Note
that the kinematic designation is identical to the polar configuration yet the work
volumes are very different. When describing the robot it is important to provide as
much information as possible to avoid confusion over the machines ability. The work
volume is cylindrical in nature, however the restrictions on joint rotation produce the
work volume shown in Figure 8 (c).

(a) (b) (c)

Figure 8: SCARA configuration, (a) isometric sketch, (b) schematic, (c) work volume
The floor area occupied by the robot base is small in comparison to the work area,
however the rectilinear motion requires complex control of the revolute joints. The
key point to remember about this robot configuration is compliance. In order to
assemble push fit parts, for example, a chip into a holder, some sideways movement
(compliance) should be tolerated to allow the part to line up. The SCARA does this
without introducing any change in orientation of the part that would cause a part to
jam. Therefore this robot configuration is often used for:
• ‘table-top’ assembly tasks,
• Inspection and measurement, and
• Transfer of components, Forging and castings using larger machines.
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Partial Spherical (pendulum)

The pendulum robot arm was specially designed for light assembly work. An
isometric sketch in Figure 9 (a) illustrates the robot configuration. The robot is
normally mounted above the work area; the shoulder and elbow are both revolute
joints that have perpendicular axes. The final joint is prismatic and provides reach for
the robot. This configuration is shown schematically in Figure 9 (b). The kinematic
designation for this robot is RRP. Again this definition is identical to the polar and
SCARA configurations yet the work volumes differ considerably. The work volume
for this construction is partially spherical. As with the SCARA and polar
configurations rectilinear motion requires complex control features.

(a) (b) (c)

Figure 9: Pendulum configuration, (a) isometric sketch, (b) schematic, (c) work
volume

Multiple Joint Robot or Spline Robot

The spline robot provides excellent flexibility for a number of applications. An
isometric sketch shown in Figure 10 (a) illustrates the robot design. Unlike the
previous designs there are no prismatic or revolute joints. A system of cables is used
to control the arm through a series of plates arranged like a human spine to produce
the flat bottomed hollow spherical work volume shown in Figure 10 (a).

(a) (b)
Figure 10: Spline Configuration (a) Isometric sketch, (b) Work volume
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The plates are arranged as shown in Figure 11 (a). Tension applied to any one of steel
cords cause the plates to rotate producing the robot motion Figure 11 ((a) and (b)).

(a) (b)
Figure 11: Operation of the spline robot joints, (a) normal position, (b) joint
articulation
The spline robot provides excellent articulation for painting in difficult areas, e.g.
inside car bodies, however the arm is not very accurate and is rare.
Possible robot applications and manufacturers of the above configurations are
listed in the appendix. The web addresses of these manufacturers are also given.

Wrist Design
Each of the above robot designs have been described without the addition of a wrist,
required for the correct orientation of the end-effector. With the exception of the
SCARA robot the wrist should normally consist of three revolute joints.

Pitch
Roll

Yaw

(a) (b)
Figure 12: Wrist configuration (a) diagrammatic, (b) schematic
The three revolute joints of the wrist provide the Pitch Roll and Yaw rotations.
Each of the axes is perpendicular to the other two and hence provides all of the
rotations required in six-dimensional space. As mentioned previously all six degrees
of freedom may not be required for all of the applications.

Robot Design Considerations

There are several considerations relevant to the design and construction of robot arms
that should be mentioned at this point. The positioning of servomotors on the robot
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arm is critically important for increasing the payload capacity. The jointed arm robot
shown in Figure 13 (a), illustrates that moving wrist servomotors to the machine
elbow can increase the end of arm payload. Mounting the elbow servomotor at the
base of the robot can also reduce the torque required at the shoulder (Figure 13 (b)
and (c). These are simple design considerations but nevertheless illustrate the reasons
for the variation in the standard configurations discussed above.

Heavy Servo Motors

(a) (b) (c)

Figure 13: (a) placement of heavy wrist servomotors at the elbow (b) large torque’s
are required at the elbow and shoulder (c) the large torque at the elbow is
moved to the base using a linkage system

Conclusions
• Full robot articulation is achieved using six degrees of freedom.
• If more than six joints are used in the robot construction then a more dextrous
machine is created, however it should be remembered that the number of joints do
not necessarily represent the degrees of freedom.
• Only two major types of joints are used, Prismatic P and Revolute R. Other joint
types are possible but are more difficult to control.
• Seven possible robot configurations have been illustrated each of which has
specific advantages and disadvantages. The configurations illustrate how the end-
effector is positioned in three-dimensional space, however to completely orientate
the end-effector requires a wrist with three degrees of freedom.
• The robot configurations will vary slightly to the base models given here because
of weight restrictions and robot uses.
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Appendix

Adhesive dispensing, non-hazardous

Adhesive dispensing, hazardous
Material handling, load/unload
Material handling, clean room

Material handling, palletising

Material handling, assembly

Painting, non-hazardous
Painting, hazardous
Plasma detonation
Plasma spraying
Plasma cutting
Welding, MIG

Welding Spot
Manufacturer

Welding TIG

America,
Inc/Intelligent
Actuators
ABB Flexible u u u u u u u u u u
Automation
Alvey Inc u u
Animate systems u u
Inc.
Automated u u
assemblies
incorporated
BMI Automation inc u u u
C&D Robotics u u
CRS Robotics u
FANUC robotics u u u u u u u u u u u u u
(USA)
Helpmate Robotics
Inc
Kawasaki robotics u u u u u u u u u u u u u u
KUKA Welding u u u u u u u u u u u
systems and Robot
Corporation
Megamation Inc u u u
Mek-A-Nize u u u u u u
Sankyo robotics u u u u u
Seiko robotics u u u u u
Staubli Unimation u u u u u u u u u u u
Inc
Table 1: Robot applications and manufacturers. Information source Robotics World
July/August 1999 (670.4272)
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Useful Addresses
http://www.iaiamerica.com/
http://www.abb.com/
http://www.alvey.com/
http://www.sarcos.com/
http://www.aac-robot.com/
http://www.bmiauto.com/
http://www.cdrobot.com/
http://wwwcrsrobots.com/
http://www.Fanucrobotics.com/
http://www.helpmaterobotics.com/
http://www.Kawasakirobots.com/
http://www.Kuka.de/
http://www.megamation.com/
http://www.mekanize.com/
http://www.sankyo.com/
http://www.seikorobots.com/
http://www.staubli.com/
America, Inc/Intelligent Actuators
ABB Flexible automation
Alvey Inc. conveyors and palletising machines
Animate systems Inc. Tele-operators etc..
Automated assemblies incorporated, some good
information on Cartesian robots.
BMI Automation inc., palletising and packaging
machinery
C&D Robotics, Palletising machinery and end
effectors
CRS Robotics Corporation, jointed arms
FANUC robotics (USA)
Helpmate Robotics Inc., robotic courier systems
Kawasaki robotics official site
KUKA Welding systems and Robot Corporation
Megamation Inc., pick and place applications
Mek-A-Nize Engineering Inc., Specialist
SCARA developments
Sankyo robotics, small parts assembly and
handling
Seiko robotics, high precision robots
Staubli Unimation Inc.

See also: Industrial Robot Specifications, Cugy A., Page K., Hermes publishing and
Kogan page Ltd, 1984. This source is quite dated in comparison to the web-based
material.

Bibliography
1. Robots and Manufacturing Automation, Asfahl C. R., Wiley, 1992, (670.427
ASF)
2. Concise International Encyclopaedia of Robotics, Dorf R. C., Wiley 1990
(629.89203/CON)
3. Introduction to Robotics, McKerrow P. J., Addison Wesley, 1991 (629.892 MAC)
4. Analytical Robotics and Mechatronics, Stadler W., McGraw-Hill, 1995 (NIL)
5. Industrial Robotics, Mair G., Prentice Hall, 1988 (629.892 MAI)
6. Industrial Robotics Handbook, Hunt V. D., Industrial Press Inc. 1983 (629.892
HUN)