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Tutorial 1: Robotic Arm Configurations

The document discusses the four main types of robotic arm configurations - Cartesian, cylindrical, SCARA, and articulated. It addresses their defining features and compares degrees of freedom between robot grippers and the human hand. The work envelope shape determined by a robot's geometry is important to consider for the intended application. Links to videos are provided to illustrate each type and their benefits, the differences between SCARA and cylindrical robots, articulated robot work envelopes, and the most commonly used geometry.

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Godfrey Kayombo
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53 views

Tutorial 1: Robotic Arm Configurations

The document discusses the four main types of robotic arm configurations - Cartesian, cylindrical, SCARA, and articulated. It addresses their defining features and compares degrees of freedom between robot grippers and the human hand. The work envelope shape determined by a robot's geometry is important to consider for the intended application. Links to videos are provided to illustrate each type and their benefits, the differences between SCARA and cylindrical robots, articulated robot work envelopes, and the most commonly used geometry.

Uploaded by

Godfrey Kayombo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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TUTORIAL 1: ROBOTIC ARM CONFIGURATIONS

1. A robotic arm is a type of mechanical arm, usually programmable,


with similar functions to a human arm. The links of such a manipulator
are connected by joints allowing either rotational motion or translation
displacement. The joints in these machines can be given names like
shoulder, elbow, and wrist. A robot arm can be categorized
according to its geometry. Identify and briefly discuss the four types of
robot arm configurations illustrated in the figure below.

2.
a) List and explain the six degrees of freedom used for robots
b) In terms of degrees of freedom, explain why the human hand is
able to accomplish movements that are more fluid and complex
than a robots gripper
3.
a) What determines the shape of the robots work envelope?
b) Why should you be concerned about the work envelope shape
when installing a robot for a particular application?
4. Visit the following website and then use it to answer the question that
follow
Video:

Cartesian

https://www.youtube.com/watch?v=ci_mpRERMog
1

Cylindrical

https://www.youtube.com/watch?v=Hj7PxjeH5y0

Scara

https://www.youtube.com/watch?v=y96-_RLiZu8

Articulated

https://www.youtube.com/watch?v=0aEfUtiEza0

Questions
a) What are the benefits of a Cartesian work envelop?
b) What is the different between a SCARA and a horizontal jointed
cylindrical robot?
c) What is the work envelope of an articulated arm robots?
d) Which geometry is most commonly used in robots and why?

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