7.C] Classify the robots on the basis of physical configurations
Answer:-
a. Polar configuration
- It consists of a sliding arm L-joint, actuated relative to the body, which rotates around both a vertical axis (T-joint) and a horizontal axis (R-joint).
b. Cylindricalconfiguration
- It consists of a vertical column.
- An arm assembly is moved up or down relative to the vertical column.
- The arm can be moved in and out relative to the axis of the column.
- A common configuration is to use a T-joint to rotate the column about its axis.
- An L joint is used to move the arm assembly vertically along the column, while an O-joint is used to achieve radial movement of the arm.
c. Cartesian co-ordinate robot
- It is also known as a rectilinear robot and x-y-z robot.
- It consists of three sliding joints, two of which are orthogonal O-joints.
d. Jointed-arm robot
- It is similar to the configuration of a human arm.
- It consists of a vertical column that swivels about the base using a T-joint.
- The shoulder joint (R-joint) is located at the top of the column.
- The output link is an elbow joint (another R joint).
e. SCARA Configuration
- Its full form is ‘Selective Compliance Assembly Robot Arm’.
- It is similar in construction to the jointer-arm robot, except the shoulder and elbows rotational axes are vertical.
- It means that the arm is very rigid in the vertical direction but compliant in the horizontal direction.