1. Robot Classifications by Manipulator
Robotics
Robot Classifications by Manipulator

2. Configurations for Robot Manipulators
1. Cartesian
2. Spherical
3. Cylindrical
4. Articulated

3. I. Cartesian Geometry Also called rectangular, rectilinear, gantry
Robot has the ability to move its gripper to any position within the cube or rectangle defined as its work envelope
(3L) Three linear movements

4. Cartesian/Gantry Robot

5. Cartesian Applications
Materials handling
Parts handling related to machine loading/unloading supply bins
Assembly of small systems
Example: Electronic printed circuit board assembly

6. Cartesian/Gantry Robot

7. Cartesian Advantages 1. Very large work envelopes are made possible
2. Overhead mounting leaves floor space for other uses
3. Simpler control systems

8. Cartesian/Gantry Robot

9. Cartesian Disadvantages
1. Access to the work envelope by overhead crane or other material-handling equipment may be impaired
2. Maintenance may be difficult

10. II. Cylindrical Geometry
Robot can move its gripper within a volume that is described by a cylinder
(2L1R) Two linear movements, one rotational

11. Cylindrical Robot

12. Cylindrical Advantages
1. Horizontal reach into production machines is possible
2. Vertical structure of the machine conserves floor space
3. Rigid structure, allows large payloads and good repeatability

13. Cylindrical Disadvantages
1. Most cannot rotate a full 360 degrees because of mechanical design limitations

14. Cylindrical Robot

15. III. Spherical Geometry
Also called Polar
Spherical shaped work envelope
(2R1L) Two rotations, one linear extension

16. Spherical Robot

17. Spherical Applications
Mounted on machinery to load/unload parts
Spherical robots have lost practicality in the workplace due to articulated (4 & 6 axes) robots

18. Spherical Advantages 1. Fully capable of 360 degree rotations.
2. Long horizontal reach

19. Spherical Disadvantages
1. Lower profile, no linear actuator for the Z-axis
2. Small work envelope

20. IV. Articulated Geometry
(3R) Three rotational movements
Two variants: vertically or horizontally articulated (SCARA-selective compliant articulated robotic arm)
Vertically- additional rotary axis or linear axis for the forearm link - Also called Jointed-Arm, Revolute, or Anthropomorphic
Horizontally- two angular positioning movements and one linear movement

21. Vertically Articulated Robot

22. Vertically Articulated Robot

23. Vertically Articulated Robot

24. Vertically Articulated Robot

25. Vertically Articulated Robot

26. Horizontally Articulated Robot

27. Horizontally Articulated Robot

28. Articulated Advantages
1. Occupies a minimum of floor space
2. A good size-to-reach ratio, achieves more reach
3. High positioning mobility of the end-of-arm tooling allows the arm to reach into enclosures and around obstructions

29. Articulated Disadvantages
1. Has the need for more sophisticated control requirements
2. Higher associated costs
Despite any disadvantages, articulated robots dominate the automated world today. They are known for their speed and agility.