Robotics

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Robotics

• Robot Classifications by Manipulator

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Configurations for Robot Manipulators

• 1. Cartesian
• 2. Spherical
• 3. Cylindrical
• 4. Articulated

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I. Cartesian Geometry

• Also called rectangular, rectilinear, gantry
• Robot has the ability to move its gripper to any
  position within the cube or rectangle defined as
  its work envelope
• (3L) Three linear movements

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Cartesian/Gantry Robot
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Cartesian Applications

• Materials handling
• Parts handling related to machine
  loading/unloading supply bins
• Assembly of small systems
• Example Electronic printed circuit board assembly

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Cartesian/Gantry Robot
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Cartesian Advantages

• 1. Very large work envelopes are made possible
• 2. Overhead mounting leaves floor space for other
  uses
• 3. Simpler control systems

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Cartesian/Gantry Robot
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Cartesian Disadvantages

• 1. Access to the work envelope by overhead crane
  or other material-handling equipment may be
  impaired
• 2. Maintenance may be difficult

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II. Cylindrical Geometry

• Robot can move its gripper within a volume that
  is described by a cylinder
• (2L1R) Two linear movements, one rotational

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Cylindrical Robot
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Cylindrical Advantages

• 1. Horizontal reach into production machines is
  possible
• 2. Vertical structure of the machine conserves
  floor space
• 3. Rigid structure, allows large payloads and
  good repeatability

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Cylindrical Disadvantages

• 1. Most cannot rotate a full 360 degrees because
  of mechanical design limitations

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Cylindrical Robot
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III. Spherical Geometry

• Also called Polar
• Spherical shaped work envelope
• (2R1L) Two rotations, one linear extension

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Spherical Robot
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Spherical Applications

• Mounted on machinery to load/unload parts
• Spherical robots have lost practicality in the
  workplace due to articulated (4 6 axes) robots

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Spherical Advantages

• 1. Fully capable of 360 degree rotations.
• 2. Long horizontal reach

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Spherical Disadvantages

• 1. Lower profile, no linear actuator for the
  Z-axis
• 2. Small work envelope

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IV. Articulated Geometry

• (3R) Three rotational movements
• Two variants vertically or horizontally
  articulated (SCARA-selective compliant
  articulated robotic arm)
• Vertically- additional rotary axis or linear axis
  for the forearm link - Also called Jointed-Arm,
  Revolute, or Anthropomorphic
• Horizontally- two angular positioning movements
  and one linear movement

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Vertically Articulated Robot
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Vertically Articulated Robot
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Vertically Articulated Robot
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Vertically Articulated Robot
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Vertically Articulated Robot
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Horizontally Articulated Robot
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Horizontally Articulated Robot
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Articulated Advantages

• 1. Occupies a minimum of floor space
• 2. A good size-to-reach ratio, achieves more
  reach
• 3. High positioning mobility of the end-of-arm
  tooling allows the arm to reach into enclosures
  and around obstructions

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Articulated Disadvantages

• 1. Has the need for more sophisticated control
  requirements
• 2. Higher associated costs
• Despite any disadvantages, articulated robots
  dominate the automated world today. They are
  known for their speed and agility.