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Robotics
Robotics
Introduction
1. Cartesian-(3-p)
2. Cylindrical(2p,1R)
3. Spherical(polar)
(1P,2R)
4. Jointed arm(3R)
2.Based on power source or actuator
1. Electric
2. Hydraulic
3. Pneumatic
4. Composite
3. Based on control system
1. Limited sequence
2. Point to point(PTP)
3. Controlled path
4. Continuous path(CP)
4. Based on degrees of freedom
1. Single axis
2. Two axis
3. N axis
5. Based on mobility
1. Stationary robot
2. Mobile robot.
6. Based on load capacity.
1. Slew motion
2. Joint interpolated
3. Straight line interpolation
4. Circular interpolation
Geometrical configuration.
1.Cartesian
1.Cartesianrobot
robot
Cartesian
Cartesian
Cartesian Robot: 3P
3P
1.Cartesian/rectangular
Arm rotates about the base, moves in and out, and up and
down
2.Cylindrical coordinate
A cylindrical or post type co-ordinate robot has two linear
motion and one rotary motion.
Radial motion ®
The first co ordinate
describes the angle θ
of base rotation.
Up-down(Z)
Work volume is
cylindrical.
Reach and height
axis rigid
Base resolution in
degrees
Advantages
1.Two linear axes make the mechanical design less
complex than the Cartesian robots.
2.vertical structure conserves space
3.Can reach all-round itself
Disadvantages
1.Cannot reach above itself.
2.Horizontal motion is circular.
3.Won,t reach around obstacles.
4.Base rotation axis is less rigid.
5.Repeatability and accuracy are lower due to rotary joint.
3. Polar/Spherical Robot
Arm rotates about the base, moves in and out, and up and
down
Spherical or polar robots
Spherical or polar robots
1. Press loading
2. Dip coating
3. Stacking and unstacking
4. Part cleaning
5. Heat treatment
6. Forging.
4.Joined-arm or revolute-coordinates robot
3 axes rotational
Also called articulated robot
Most anthromorphic or
human like robot.
i.e design is similar to human
arm.
Rotation about base-
waist(vertical axis)
Shoulder(horizontal)
Elbow. (horizontal)
Work envelope is circular
when viewed from top.
From side ,the envelope has circular outer
surface and scalloped inner surface.
Advantages
1. Can reach around obstacles.
2. Large work area for least floor space.
Disadvantages
1. Less accuracy due to rotary joints.
2. Sophisticated controller because programming is
complex.
3. Less stable especially at maximum reach.
Industrial Robot Subsystems
6
4
1
Control unit
Shoulder Wrist
6 Revolute joints
= 6R robot Manipulator
1. Manipulator
The manipulator is a
mechanical unit that
provides motion similar to
human arm.
The manipulator consists
of a series of rigid
members ,called links and
are connected at joints
Its primary function is to
provide the specific
motion that will enable
the tooling at the end to
do the required work
The motion of joints are accomplished by actuator
The manipulator bends,slides ,or rotates about these joints
which as referred to as degrees of freedom.
The manipulator itself may be thought of as being composed
of three divisions
1. The major linkages.(Positioning)
2. The minor linkages(wrist components-orientation)
3. The end effector.
The Minor Linkages
(wrist Assembly-orientation)
Spot
Arc welding
Pouring
welding gun
ladle
torch