Lec 11
Lec 11
sin Y 0.6402
R
sin 0.6402 39.81
1 o
Base Reach Z
Angle position
(
R Z)
( 39.81 15.62” 13”)
Points for a cylindrical-coordinates robot are specified
as points defined by two linear axes and one angle. The
linear axes are called z and R (for reach). The angle is
the angle of rotation.
Cylindrical Robot
1.3 SCARA robot
The SCARA (Selective Compliance Assembly Robot
Arm) robot has the same work area as a cylindrical
coordinates robot. However, the reach axis includes a
rotational joint in a plane parallel to the floor. This
feature allows the SCARA robot to reach around some
obstacles in its work envelope.
Figure2.7: SCARA robot
Figure 8 A Point for a SCARA Robot
= ? = 39.81o
If x is negative and y is positive, subtract from 180o.
If X is positive and y is negative, subtract from 360o.
( )( )
( )( )
If the arm not only rotates about the base, but also
rotates about an axis in the vertical plane, the robot is
known as polar coordinates or spherical coordinates
robot.
The polar coordinates robot can reach things almost
directly above itself, as well as around itself. The bend
up and down axis may be limited to 60o or less.
Figure 8: Spherical co-ordinates robot.
Figure 9: Spherical coordinates manipulator
= ? = 39.81o
=20.322
=0.6397
= ? = 39.77
Base Elevation Reach
Angle angle
(γ , β, )
(39.81, 39.77, 20.322)
If the arm can rotate about all three axes, the robot is
called a revolute coordinates, articulate, or joint arm
robot.
The revolute coordinates arm can reach things all
around it, including things above and below it. It can
serve the largest work area for the smallest floor space .
Figure10. Jointed arm
= 15.62
=0.6402
= ? = 39.81o
RF =20.322
RF F
= 0.84675
( )( )
o
( )( )
o
two linear axes, one rotating axis cannot reach above itself
can reach all around itself base rotational axis is less rigid than a
reach and height axes rigid linear axis
Cylindrical coordinates (Ѳ, r,z- rotational axis easy to seal linear axes hard to seal
base rotation, reach, and height) won’t reach around obstacles
one linear axis, two rotational axes can’t reach around obstacles
Spherical coordinates (Ѳ, Φ, z - long horizontal reach generally has short vertical reach
base rotation and reach angle)
Continuous path controller: They have large memories than point to point
controllers and are able to record many point coordinates per second.
-3-
Classification by power supply
There are three basic types of power supplies:
Electrical, Pneumatic, and Hydraulic.