Robot and Robot Classification Logics of presentation: Robot definition Robot classification Handout 2: ME460

Robot Definition Functional viewpoint: - automatically controlled, - reprogrammable multipurpose - reprogrammable axes Structural viewpoint: (see Fig. 2-1) - mechanical arm (see Fig. 2-2) - controller Handout 2: ME460

Fig. 2-1 Handout 2: ME460

Structural view (continued) - teach station - work cell interface - program storage device - power system (electrical, hydraulic, etc.) - end-effector or tooling or gripper Handout 2: ME460

Fig. 2-2 Mechanical arm 1. Body motion 2. wrist motion Handout 2: ME460

Robot Classification The classification is based on the body motion but not the wrist motion Handout 2: ME460

(a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4) Cartesian geometry: (a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4) Spherical geometry (Fig. 2-5) Cylindrical coordinate (Fig. 2-6) Articulated geometry (a) vertical (Fig. 2-7) (b) horizontal (Fig. 2-8) Handout 2: ME460

Fig. 2-3 Cartesian geometry: Gantry - type Handout 2: ME460

Fig. 2-4 Cartesian geometry: Cartesian Handout 2: ME460

Fig. 2-5 Spherical geometry Handout 2: ME460

Cylindrical coordinate Fig. 2-6 Handout 2: ME460

Fig. 2-7 Articulated geometry: vertical Handout 2: ME460

Fig.2-8 Articulated geometry: horizontal Handout 2: ME460

Work space Handout 2: ME460

Robot Controller Fig. 2-9 Handout 2: ME460

Fig. 2-10 Gripper Handout 2: ME460

Summary Robot definition from two perspectives: functional and structural. Robot classification is based on body motion but not wrist motion. Handout 2: ME460