Classify the robots on the basis of physical configurations

7.C] Classify the robots on the basis of physical configurations


Various Robot Configurations

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.

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