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    MECHANICAL ENGINEERING

    SCIENCE (UE23ME131A)
    Srinivasa Prasad K S
    Department of Mechanical Engineering
    MECHANICAL ENGINEERING SCIENCE

    Unit4

    Srinivasa Prasad K S
    Department of Mechanical Engineering
    MECHANICAL ENGINEERING SCIENCE

    Chapter 2 – Automation, Robotics,


    Control Systems and Industry 4.0

    Srinivasa Prasad K S
    Department of Mechanical Engineering
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Robot Configurations

     A robot manipulator can be divided into two sections: a body and arm assembly and a wrist
    assembly.

     At the end of the manipulator’s wrist is a device related to the task that must be accomplished
    by the robot. The device called an end effector is usually either
    (1) a gripper for holding a work part
    (2) a tool for performing some process.

     The body and arm of the robot is used to position the end effector and the robot’s wrist is used
    to orient the end effector.
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Body and Arm Configurations

    Cartesian coordinate robot – Other names for this configuration include rectilinear robot and x
    – y – z robot. As shown in Figure, it is composed of three sliding joints, two of which are
    orthogonal.
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Body and Arm Configurations

    Cylindrical configuration – This robot configuration consists of a vertical column, relative to


    which an arm assembly is moved up or down. The arm can be moved in and out relative to the
    axis of the column. The column can be rotated about it’s axis.
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Body and Arm Configurations

    Polar configuration – This configuration consists of a sliding arm (L joint) actuated relative to
    the body, that can rotate about both a vertical axis (T joint) and a horizontal axis (R joint).
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Body and Arm Configurations

    Jointed arm robot – This robot manipulator has the general configuration of a human arm. The
    jointed arm consists of a vertical column that swivels about the base using a T joint. At the top of
    the column is a shoulder joint (shown as an R joint in the figure), whose output link connects to
    an elbow joint (another R joint).
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Body and Arm Configurations

    SCARA – SCARA is an acronym for Selective Compliance Assembly Robot Arm. This
    configuration is similar to the jointed arm robot except that the shoulder and elbow rotational
    axes are vertical, which means that the arm is very rigid in the vertical direction, but compliant in
    the horizontal direction. This permits the robot to perform insertion tasks (for assembly) in a
    vertical direction, where some side to side alignment may be needed to mate the two parts
    properly.
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Wrist Configurations

     The robot’s wrist is used to establish the orientation of the end effector.

     The three joints are defined as:


    1) Roll, using a T joint to accomplish rotation about the robot’s arm axis
    2) Pitch, which involves up and down rotation, typically using a R joint
    3) Yaw, which involves right and left rotation, also accomplished by means of a R - joint.
    MECHANICAL ENGINEERING SCIENCE
    INDUSTRIAL ROBOTICS

    Applications

     Material handling applications –


    1) Material transfer
    2) Machine loading and/or unloading

     Processing Operations – Spot welding, Continuous arc


    welding, Spray painting etc.

     Assembly and Inspection

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