—— a 1.8. DIFFERENT TYPES OF ARM CONFIGURATION ROBOT (OR) ROBOT COORDINATE SYSTEM The robot used in the industry have various sizes, shapes and configuration. The configuration (or) coordinate systems in robots are 1. Cartesian (or) Rectangular arm configuration robot 2. Cylindrical arm configuration robot . Polar (or) Spherical arm configuration robot . Articulated (or) Revolute (or) Jointed arm configuration robot . Selective compliance articulated (or) assembly robot arm configuration (SCARA). . Serial manipulator configuration robot 7. Parallel manipulator configuration robot 1.8.1. A CARTESIAN (OR) RECTANGULAR ARM CONFIGURATION ROBOT 1.8.1.1. What is a cartesian arm configuration robot? A Cartesian arm configuration robot can be defined as an industrial robot, whose three principle axes of control are linear and right angle to each other. Cartesian configuration robot is called as linear robot (or) rectilinear robot. It is also called as gantry robot. DAwaw (© Scanned with OKEN Scanneription of cartesian arm configuration robot: les are parallel to three axes. eX, Y, Z. axes. and left motion. “Y” axes represents 3. By moving the arm it can surround a work area which resembles a rectangular ‘envelope. 18.14, Example 1. IBM RS-1 18.15. Advantages: 1. Loweost 3. Simple control 5. Versatile working 7. Simple operating procedures . High payload Rigid structure . Easy to program offline Good accuraey and repeatability © scanned with OKEN Scanner130 Robe, IBS See eee ee 1.8.16. Disadvantages: 1. Limited in movement 3. Work space is smaller than robot volume 2, Requires large floor space to operate ‘Application: 1. Assembly 2. Inspection 3. Spot welding 4, Pick and place 5. Loading and unloading. ‘CYLINDRICAL ARM CONFIGURATION ROBOT 1.8.2.4, What is meant by cylindrical arm configuration robot? Cylindrical arm configuration robot has vertical column that ean slide up and down along the column, 1.8.2.2. Description of eyindrical arm configuration robot: Aste) near movement) naa =D —-=€ ; Retaona U ‘movement (R) ‘Axis (1) Fig. 1.38. Qylindrical am configuration robot ‘The robot arm stashed tthe vrs clun tht can side up nd down log The robotic arm can rotate radically with respect othe column, The rotational axes, the bent axes and reach axes, ‘The cylin! coordinate system incorporates thee degree of fedom (a) The robot workspace resembles a cylinder and hence called as cylindrically coordinate robot. % Kinematic designation is RPP 01) 2PR. Example 1. GMF model 1.8.2.3. Work volume (or) work space of cylindrical arm configuration robot oon ° (© Scanned with OKEN ScannerInroduton to Robots (131) 2. Work volume may be restricted atthe back sie. 3. Working space is part ofa cylinder 4, Limited movements, a large volume along the main axis is out of reach ‘Advantages: 1. Rigid structure, 2, Easy to program ofin. 3. High load carrying capacity, 4. Suitable for pick and place operation 5. Very powerful when hydraulic drive usd. 6. Larger work volume than cartesi Disadvantages: 1, Lower accuracy 3. Lower mechanical rigidity 5. Require more sophis configuration, Lower repeatability Restricted work space Application: 1, Material handling 2, Foundry 3. Load (or) Unload 4, Forging 5. Palletizing 118.3. POLAR (OR) SPHERICAL ARM CONFIGURATION ROBOT 1.83.1, What Is meant by spherical arm configuration robot? Capability to move its arm within a spherical space, he configuration robot. It is also called as polar configuration 18.3.2. Description of polar (or) spherical arm configuration robot: Polar (or) spherical configuration robot has two rotary joint and one linear joint The rotational axes, bent axes and reach axes. 2R joints and after prismatic one. ‘base rotation. Second motion corresponds to an elbow rotation is radial (or) in and out motion ‘The hand is oriented to external space. It uses a telescopic arm which ean be raised (or) lowered about a horizontal pivot ‘The pivoted arm is mounted on a rotating base. ‘The above pivot mounted rotating configuration allows the robot to move the arm ina spherical space. Hence itis also called as spherical coordinate system (or) polar coordinate system. 4 Kinematic model designation is RRP 2RP). ee it is called spherical sees eee (© Scanned with OKEN ScannerRobotics 1.8.3.3. Work volume (or) work space of potar (or) spherical arm configuration robot 1. Operate within a spherical work volume 2. Polar (or) spherical coordinate robot work space are part ofa sphere 3. ‘The transformation between cartesian and joint space isnot line baample: 1. Unimate 2000 series 2. Maker 110 Retaion af wo Unger eZ ee: AR), “a ® Fig, 139, Polar (or) spherical arm configuration robot Advantages 1. Light weight 2. Simple design. 3. Good pessoa, 4, Easy to programme 5. High reachability. 6. Larger work volume than cartesian and cylindrical configuration, Disadvantages: 1. Limited vertical mavement 2, Lower mechanical rigidity 3. _ Required sophisticated control system than cartesian (or) eylindtical Application: 1, Machine transfer 2. Injection moulding 3. Machine too! loading 4, Handling of heavy loads 1.84, ARTICULATED (OR) REVOLUTE (OR) JOINT ARM CONFIGURATION ROBOT 1.8.4.1. What is meant by an articulated arm configuration robot? Articulated robot is a robot whose arm has at least three rotary joint. Articulated configuration robot is also called as jointed arm configuration, (ot) revolute configuration robot. (© Scanned with OKEN ScannerAnaroduction to Robots eee Rotation (Rs) az = El fal Rotation R == Rotation) U Fig. 1.40. Articulated (or) revolute (or) joint arm configuration robot 18.4.2 Description of articulate (or) revolute (or jointed arm configuration Articulated configuration robot resembles to human arm, Move human like movements (but human arm is redundant), 4 Articulated configuration robot has three rotational axes (3R). 1. Elbow rotation 2, Shoulder rotation 3. Wrist rotation Articulated configuration robot has two components corresponding to. human forearm and upper arm, ‘The upper arm is connected to the body by a shoulder joint, ‘The forearm is connected to the upper arm by an elbow joint. ‘Avwrist is connected to the forearm to perform operation. inematic designation is RRR (or) 3R 1.8.43. Work volume (or) work space of the articulated arm configuration robot 1. Operate within a spherical work volume. 2. The jointed arm has spherical envelope. 3. The transformation between cartesian and joint space is not linear. eee ° 1. Puma 2. GRS Advantages: 1. High speed 2. High reachability 3. Larger work volume 4, Maximum flexibility 5. Versatile configuration 6. Rotation joints are less expensive Disadvantages: 1. Structure not rigid 2. Accuracy ean be poor 3. Complex programming 4, More difficult to control (© Scanned with OKEN Scanner[134] Robotics $. Complex kinematic model 6. More complex manipulator 7. Sophisticated controller is required Applications: 1. Are welding 2. Spot welding 3. Machine vision 4. Automatic assembly 5. In process inspection 6. Automation in foundry industries (© Scanned with OKEN Scanner