Disadvantages of Spherical/Polar Disadvantages of Spherical/Polar

Revolute Revolute Coordinate Coordinate

SystemSystem

Revolute (Joined-Arm) Coordinate System

Revolute (Joined-Arm) Coordinate System

alpha - Axis

Revolute (Joined-Arm) Coordinate System

- Axis

Revolute (Joined-Arm) Coordinate System

gamma - Axis

Revolute (Joined-Arm) Coordinate System

Jointed ArmJointed Arm

Advantages of Articulate/Jointed Advantages of Articulate/Jointed Arm/RevoluteArm/Revolute

Disadvantages of Disadvantages of Articulate/Jointed Arm/RevoluteArticulate/Jointed Arm/Revolute

SCARASCARAA combination of the articulated arm and the cylindrical robot

Illustration of Illustration of DOF DOF of of Revolute Revolute

Coordinate Coordinate SystemSystem

Degrees of FreedomDegrees of Freedom

VS

Degrees of Freedom

•Rotating the base.

Degrees of Freedom

• Pivot the base of the arm.

Degrees of Freedom

•Bending the elbow.

Degrees of Freedom

•Wrist up and down.

Degrees of Freedom

•Wrist left and right.

Degrees of Freedom

•Rotating the wrist.

Classification Based on Number of Classification Based on Number of joints or degrees of freedomjoints or degrees of freedom

• Principal Elements of industrial robots

Industrial Robot Industrial Robot DesignsDesigns

Working Area of Industrial RobotsWorking Area of Industrial Robots• Mechanics/

Kinematics

• Kinematics concepts of a 3-axis industrial robot and the resulting work area.

Classification of Industrial Classification of Industrial RobotsRobots

Grippers and Controls of Grippers and Controls of Industrial RobotsIndustrial Robots

Drives, Feedback and Sensors Drives, Feedback and Sensors of Industrial Robotsof Industrial Robots

Basic Robot Motions and Basic Robot Motions and DOF of industrial robotsDOF of industrial robots

Arm and Body MotionsArm and Body Motions

•Vertical Traverse:

•up-and-down motions of the arm,

•caused by pivoting the entire arm about a horizontal axis or moving the arm along a vertical slide

•Radial Traverse:

•extension and retraction of the arm (in-and-out movement)

•Rotational Traverse:

•rotation about the vertical axis (right or left swivel of the robot arm)

Wrist Wrist MotionsMotions

Basic MotionsBasic MotionsRotational traverse

vertical traverse

radial traverse

Wrist bend

Wrist yaw

Wrist Swivel

Robot Motion CharacteristicsRobot Motion Characteristics

Robot Motion CharacteristicsRobot Motion Characteristics

Additional Technical FeaturesAdditional Technical Features