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Classification of Industrial Robots Work Volume Arm Configuration Advantages and Disadvantages of Robot Configurations

This document discusses different types of industrial robot configurations based on their arm configuration, power source, and path control. It describes Cartesian coordinate robots which move in orthogonal X, Y, and Z directions and have a rectangular working envelope. Cylindrical coordinate robots contain linear and rotational movement along a vertical column, approximating a cylindrical working volume. The advantages and disadvantages of each configuration and their common applications are also outlined.

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67 views

Classification of Industrial Robots Work Volume Arm Configuration Advantages and Disadvantages of Robot Configurations

This document discusses different types of industrial robot configurations based on their arm configuration, power source, and path control. It describes Cartesian coordinate robots which move in orthogonal X, Y, and Z directions and have a rectangular working envelope. Cylindrical coordinate robots contain linear and rotational movement along a vertical column, approximating a cylindrical working volume. The advantages and disadvantages of each configuration and their common applications are also outlined.

Uploaded by

Anonymous kTVBUxr
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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OVERVIEW

 Classification of Industrial Robots


 Work Volume
 Arm Configuration
 Advantages and Disadvantages of Robot Configurations
CLASSIFICATION OF ROBOTS
1. Based on Robot Arm Configuration
 Cartesian coordinate
 Cylindrical coordinate
 Polar coordinate
 Jointed arm configuration

2. Based on Power Source


 Pneumatic
 Hydraulic
 Electric

3. Based on path control


 Limited Sequence Robot
 Point to point control
 Path controlled Robot
WORK VOLUME
 Work volume or work envelope refers to the space within which the robot can
manipulate its wrist end.
 For defining the work volume, the wrist end convention is adopted to avoid the
complication of different sizes of end effectors that might be attached to the
robot’s wrist.
 The work volume is determined by the following physical characteristics:
1. Robot’s physical configuration.
2. Sizes of the body, arm and wrist components.
3. Limits of robot’s joint movements.
ARM CONFIGURATION
 Cartesian Coordinate System
• In this there are three orthogonal directions X,Y and Z.
• X-coordinate axis may represent left and right motion.
• Y-coordinate axis may represent forward and backward motion.
• Z-coordinate axis may represent up and down motions.
• Example of Cartesian System is Overhead Crane Movement.
Working Envelope of Cartesian Configuration Robot
 The working envelope of the Cartesian configuration is a rectangular prism.
 The robot can manipulate its maximum payload throughout the working volume.
Advantages:
 Work envelope can be increased by travelling along the x axis.
 Linear movement and hence simpler control.
 High degree of accuracy and repeatability due to their structure.
 Can carry heavier loads since load carrying capacity does not differ at different position
of the work envelope.
Disadvantages:
 Movement is limited to only one direction at a time.
Applications:
 Pick and place operation.
 Adhesive applications.
 Assembly and sub assembly.
 Nuclear material handling.
 Welding
 Cylindrical Configuration Robot
• It uses a vertical column and a slide that can be moved up or down along the
column.
• The robot arm is attached to the slide so that it can be moved radially with respect
to the column.
• By rotating the column, the robot is capable of achieving a work space that
approximates a cylinder.
• It contains two linear motions and one rotational motion.
• Angular Motion, θ along vertical axis; Translation Motion, z along z-direction that
corresponds to up and down motion; Radial, r in or out translation.
Working Envelope of Cylindrical Configuration Robot
 The working envelope of this configuration is as its name suggests a cylinder.
Advantages
 Results in larger work volume than a rectangular manipulator.
 Vertical structure conserves floor space.
 Capable of carrying large payloads.
Disadvantages
 Repeatability and accuracy are lower in the direction of rotary motion.
 Requires more sophisticated control system.
Applications
 Assembly.
 Coating application
 Die casting.
 Foundry and forging application
 Machine loading and unloading.

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