1. Cylindrical Coordinate System

2. Cylindrical Coordinate System
R- Axis

3. Cylindrical Coordinate System
Z - Axis

4. Cylindrical Coordinate System
theta - Axis

5. Cylindrical Coordinate System

6. Cylindrical Coordinate

7. Advantages of Cylindrical
1. Reduced effect of gravity loading
2. Free movement with moderate collisions
3. Two linear axes make the mechanical design less complex than Cartesian
4. Good accuracy

8. Disadvantages of Cylindrical
1. Some restrictions on compatibility with other manipulators in a common work space
2. Less accuracy and resolution compared with Cartesian

9. Polar (Spherical) Coordinate System

10. Polar (Spherical) Coordinate System
 - Axis

11. Polar (Spherical) Coordinate System
gamma - Axis

12. Polar (Spherical) Coordinate System
R - Axis

13. Polar (Spherical) Coordinate System

14. Polar/Spherical Coordinate

15. Advantages of Spherical/Polar
1. Minimal structural complexities
2. Short joint travel for many motions - good reach
3. Compatible with other robot and machines in common work space
4. Good resolution because errors in position are perpendicular

16. Questions and Problems
Discuss advantages and disadvantages of Cartesian, Cylindrical and Spherical Robot Arms
Compare the above three designs from the point of view of building such a robot arm in our lab using inexpensive components.
Invent an arm that is different from all three above. The same number of degree of freedom but other arrangement and other motion types in each DOF.
Discuss the envelopes (work volumes) of each robot from the point of view of using it in robot theatre.
Assuming that you remember about basic high school mechanics like lever, gears and pulleys, perform power/torque/linkage calculations for the Cylindrical and Spherical robot arms. If you forgot, read the material from the forthcoming lectures.