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Robot Configurations

The document describes four common robot configurations: polar, cylindrical, Cartesian coordinate, and jointed-arm. It also discusses robot motions, joint notation schemes, work volume, and illustrations of the work volume for polar, cylindrical, and Cartesian robots. The key points are that there are four main robot configurations, robot motion is determined by its configuration, work volume is the space a robot can manipulate within, and work volume varies based on the robot's physical characteristics and joint limits.

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Nani Kumar
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3K views12 pages

Robot Configurations

The document describes four common robot configurations: polar, cylindrical, Cartesian coordinate, and jointed-arm. It also discusses robot motions, joint notation schemes, work volume, and illustrations of the work volume for polar, cylindrical, and Cartesian robots. The key points are that there are four main robot configurations, robot motion is determined by its configuration, work volume is the space a robot can manipulate within, and work volume varies based on the robot's physical characteristics and joint limits.

Uploaded by

Nani Kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Four Common Robot Configurations

1. Polar configuration.

2. Cylindrical configuration.

3. Cartesian coordinate configuration.

4. Jointed-arm configuration.

1
Polar configuration.

2
Cylindrical configuration.

3
Cartesian coordinate configuration.

4
Jointed-arm configuration.

5
Robot Motions

6
Robot Motions

7
Joint Notation Scheme

Robot configuration (arm and body) Symbol

Polar configuration. TRL


Cylindrical configuration. TLL,LTL,LVL
Cartesian coordinate configuration. LLL
Jointed-arm configuration. TRR,VVR
Robot configuration (wrist) Symbol
Tw0-axis wrist (typical) :RT
Three-axis wrist (typical) :TRT

8
WORK VOLUME

 The space within which the robot can manipulate its wrist
end.
 The end effector is an addition to the basic robot and should
not be counted as part of the robot’s working space.
 Work volume is also called as work envelope.
 The work volume is determined by the following physical
characteristics of the robot:
1. The robot’s physical configuration.
2. The sizes of the body arm, and wrist components.
3. The limits of the robot’s joint movements.

9
WORK VOLUME OF POLAR ROBOT

10
WORK VOLUME OF CYLINDRICAL ROBOT

11
WORK VOLUME OF CARTESIAN ROBOT

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