Robotics arm configurations
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This document discusses five common configurations of industrial robot arms: spherical, cylindrical, Cartesian, SCARA, and articulated. For each configuration, the document provides a brief description, examples of advantages and disadvantages, and in some cases example motions. The configurations vary in their work envelope shape and size, programming complexity, accuracy, and other factors. Spherical and cylindrical robots were more common historically but are now less common in new designs.
Robotics arm configurations
- 1. Robot arm Configurations 14BME133D - PARTH DASADIYA
- 2. Robot Configurations Robot manipulators are available in several different styles/configurations. This page shows five industrial robot configurations and their respective work envelopes. Several videos are included showing the robot configurations in-use.
- 3. Spherical The first industrial robot, the Unimate, was a spherical robot. Sperical robots are rarely (if ever) used today. Advantages Large workplace for size Easily computed kinematics Disadvantages Has shot vertical reach Horizontal axis frequently in the way Also fallen” out of favor” and not common in new design
- 4. Cylindrical 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.
- 5. Cylindrical Advantages Large workspace for size Easily computed kinematics Can reach all around itself Reach and height axes rigid Disadvantages Cannot reach above itself Horizontal axis frequently in the way Largely fallen “out of favor” and not common in new design.
- 6. Cartesian or Linear Cartesian robots are perhaps the easiest and least expensive robots to build. They can be made using linear actuators (electric or pneumatic) and programmed using a PLC or PC. The axis configuration of Cartesian robots provides good rigidity compared with other robots configurations.
- 7. Cartesian or Linear Disadvantages Not space efficient External frame can be massive Z axis “post” frequently in the way Axes hard to seal Can only reach in front of itself Advantages Easy to visualize Have better inherent accuracy than most other types Easy to program offline
- 8. SCARA Notation VRO SCARA stands for Selectively Compliant Assembly Robot Arm Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks
- 9. SCARA Advantages Fast cycle time Excellent repeatability good payload capacity Large workplace Height axis is rigid Disadvantages Hard to program off-line Often limited to planar surfaces Typically small with relatively low load capacity Two ways to reach same point.
- 10. Articulated A robot with at least 3 rotary joints. Commonly used for: assembly operations welding weld sealing spray painting handling at die casting or fettling machines
- 11. Articulated Advantages all rotary joints allows for maximum flexibility any point in total volume can be reached. all joints can be sealed from the environment. Disadvantages extremely difficult to visualize, control, and program. restricted volume coverage. low accuracy