Robotic Configurations 10.08 PDF
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VenkateshAthavaRobotic Configurations 10.08 PDF
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VenkateshAthavaIndustrial Robot Defined
A general-purpose, programmable machine possessing
certain anthropomorphic characteristics
Hazardous work environments
Repetitive work cycle
Consistency and accuracy
Difficult handling task for humans
Multishift operations
Reprogrammable, flexible
Interfaced to other computer systems
Manipulator Joints
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Joint Notation Scheme
Uses the joint symbols (L, O, R, T, V) to designate joint
types used to construct robot manipulator
Separates body-and-arm assembly from wrist assembly
using a colon (:)
Example: TLR : TR
Common body-and-arm configurations
Polar Coordinate
Body-and-Arm Assembly
Notation TRL:
Consists of a sliding arm (L joint) actuated relative to the
body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
Polar Coordinate
Body-and-Arm Assembly Applications
Used for assembly operations, handling at machine tools,
spot welding, and handling at die-casting machines.
Cylindrical Body-and-Arm Assembly
Notation TLO:
Consists of a vertical column,
relative to which an arm
assembly is moved up or down
The arm can be moved in or out
relative to the column
Cylindrical Body-and-Arm Assembly
Applications
Used for assembly operations, handling at machine tools,
spot welding, and handling at die-casting machines.
It's a robot whose axes form a cylindrical coordinate
system.
Cartesian Coordinate
Body-and-Arm Assembly
Notation LOO:
Consists of three sliding joints,
two of which are orthogonal
Other names include rectilinear
robot and x-y-z robot
Cartesian Coordinate
Body-and-Arm Assembly Applications
Used for pick and place work, application of sealant,
assembly operations, handling machine tools and arc
welding.
Jointed-Arm Robot
Notation TRR:
Jointed-Arm Robot Applications
Used for assembly operations, die-casting, fettling
machines, gas welding, arc welding and spray painting.
It's a robot whose arm has at least three rotary joints.
SCARA Robot
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
SCARA Robot Applications
Used for pick and place work, application of sealant,
assembly operations and handling machine tools.
It's a robot which has two parallel rotary joints to provide
compliance in a plane.
Example
Sketch following manipulator configurations
(a) TRT:R, (b) TVR:TR, (c) RR:T.
Solution:
R
T
R
R
T
(a) TRT:R
T
(b) TVR:TR
(c) RR:T
Industrial Robot Applications
1. Material handling applications
Material transfer pick-and-place, palletizing
Machine loading and/or unloading
2. Processing operations
Welding
Spray coating
Cutting and grinding
3. Assembly and inspection
