NATIONAL INSTITUTE OF TRANSPORT

DEPARTMENT OF TANSPORT ENGINEERING AND TECHNOLOGY

PROGRAMME : BACHELOR DEGREE IN MECHANICAL ENGINEERING

MODULE NAME : INDUSTRIAL AUTOMATION

MODULE CODE : MEU 08217

LECTURER’S NAME : JAIROS KAGOMA

TASK : GROUP ASSIGMENT 01

GROUP MEMBERS

S/N STUDENT’S NAME REGISTRATION NUMBER

1 MNEMO ABDALLAH NIT/BMEL/2019/1017

2 ABDUMALICK MHAGAMA NIT/BMEL/2019/1030

3 ONOTTO PAUL LAIZER NIT/BMEL/2019/1050

4 HYTHAM KERENGE NIT/BMEL/2019/1114

5 ALOYCE C. BILISHI NIT/BMEL/2019/1096

QUESTION:
Explain robot configurations and their relative merits and demerits

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 ROBOT CONFIGURATIONS

INTRODUCTION

Industrial robots perform various tasks (such as picking up and clamping activities, spot and arc
welding, clamping for machining, manipulation and transfer of parts) with the help of sensors,
computer software, and a network of complex mechanical gestures.

Furthermore, industrial robots are automated, programmable and capable of movement in two or
more axes. Applications of robots include welding, painting, assembly, pick and place for printed
circuit boards, packaging and labeling, palletizing, product inspection, and testing; all
accomplished with high endurance, speed, and precision.

The configuration of a robot is a specification of the position of all points of the robot, and the
space of all configurations of the robot is called the configuration space or C-space of the robot

One of the major factors which determines how an industrial robot will move and what limits its
workspace is its robot configuration. Robots are mostly divided into four major configurations
based on their appearances, sizes, etc., including cylindrical configuration, polar configuration,
jointed arm configuration, and cartesian coordinate configuration.

TYPES OF ROBOT CONFIGURATIONS

1. Cylindrical Robot Configuration

Cylindrical Robots have a rotary joint at the base and a prismatic joint to connect the links.
The robots have a cylindrical-shaped work envelop, which is achieved with rotating shaft and
an extendable arm that moves in a vertical and sliding motion. Cylindrical Robots are often
used in tight workspaces for simple assembly, machine tending, or coating applications due
to their compact design. Allows its tool to rotate around a central axis. The tool can also
move towards and away from the central axis, plus up and down the central axis. This
configuration creates a work-volume in the shape of a cylinder. This configuration is
typically used for assembly operations, handling of machine tools and die-cast machines, and
spot welding.

Figure 1.1: Cylindrical robot configuration

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Advantages

i. Increased rigidity

ii. Cylindrical robots are easy to install and operate,

iii. require less floor space, and

iv. The ability to carry heavy and large payloads.

v. They are also quite easy to use as they require less assembly and maintenance.

Disadvantages

i. Less work volume.

ii. Accuracy decreases as the horizontal stroke increases.

2. Polar Configuration

It uses an arm that can be raised or lowered about a horizontal pivot. The pivot is mounted on a
rotating base, the various joints provide the robot with capability to move its arm within a
spherical space and hence its called as spherical coordinate robot.

It has one linear and two rotary motions. The work volume of a polar configuration robot is in
the form of sphere, it consists of one linear and two angular motions. The tool motion created by
this configuration sweeps out a workspace shaped like a sphere. It has its tool rotate around a
central axis, and the tool can also rotate around a second axis which is placed at a 90-degree
angle on the central axis. In addition, the tool can move back and forth along an axis. They are
commonly used for die casting, injection molding, welding, and material handling.

Figure 1.2: Polar configuration robot

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Advantages

i. Long reach capability in the horizontal position.

ii. Larger work envelope than the cylindrical configuration

iii. Vertical structure conserves less space

Disadvantages

i. Vertical reach is low

ii. Low mechanical stiffness

iii. Complex construction, requires more sophisticated control systems

iv. Accuracy decreases with the increasing radial stroke (direction of rotary motion)

3.Jointed Arm Configuration

Widely-used jointed arm configuration is similar to that of a human arm. It comprises two
straight links representing the human forearm and upper arm and two rotary joints representing
the elbow and shoulder joints, which are mounted on a vertical rotary table corresponding to the
human waist joint. As a result, it can be controlled at any adjustments in the workspace. These
types of robots perform several operations like spray painting, spot welding, arc welding, and
more.

Figure 1.3: Jointed arm configuration

Advantages

a. Increased flexibility,

b. Huge work volume, and

c. Quick operation.

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Disadvantages

a. Very expensive,

b. Difficult operating procedures, and

c. Plenty of components.

4. Cartesian Co-Ordinate Configuration

Cartesian or rectangular coordinate configuration is constructed by three perpendicular slides,

These robots are also called XYZ robots because they are equipped with three rotary joints to
assemble XYZ axes. The robots will process in a rectangular workspace using these three joints
movement. It can carry high payloads with the help of its rigid structure. It is mainly integrated
with pick and place, material handling, loading, unloading, etc.

Figure 1.4. Cartesian Co-Ordinate Configuration

Advantages

a. Highly accurate & speed,

b. Fewer costs,

c. Simple operating procedures, and

d. High payloads.

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Disadvantages

a. Less work envelope, Reduced flexibility.

b. Low dexterity (not able to move quickly and easily)

c. Limited manipulability

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 REFERENCES

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Syst. Mag. 5(3), 18–24 (1985) Cross

2) M.C. Good, L.M. Sweet, K.L. Strobel: Dynamic models for control system design of
integrated robot and drive systems, ASME J. Din. Syst. Meas. Contr. 107, 53–59 (1985)

3) E. Rivin: Mechanical Design of Robots (McGraw-Hill, New York 1988)

4) S. Nicosia, F. Nicola, D. Lentin: Dynamical control of industrial robots with elastic and
dissipative joints, 8th IFAC World Conger. (Kyoto 1981) pp. 1933–1939

5) P. Tomei: An observer for flexible joint robots, IEEE Trans. Auto. Control 35(6), 739–
743 (1990)

6) Halper, M. Theme: Symbolic computation of the inverse dynamics of elastic joint robots,
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