1012/2020 ‘The Difarance betwaen Cartesian, Sic-Axis, and SCARA Rabols | Machine Design = MachineDesign. seanes — MECHANICAL & MOTION SYSTEMS The Difference between Cartesian, Six-Axis, and SCARA Robots Originally, robots only automated manufacturing lines outputting high volumes. Now. robots execute tasks in smaller-scale applications, because implementing them is easier than ever. Here's how Cartesian robots compare with the other two robot types. Richard Vaughn, Senior Automation Engineer, Mechatronics, Bosch Rexroth Corp.. Charlotte, NG, : Edited Elisabeth Eitel DEC 02, 2013 hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ane1012/2020 ‘The Difference between Cartesian, SicAx = MachineDesign. seancn SCARA Robots | Machine Design The use of Cartesian and six-axis robots, as well as selective-compliance-articulated robot arms (SCARAs) is on the rise. They automate tasks to accelerate cycle times, increase throughput, and eliminate bottlenecks. Advanced controls make the robots user-friendlier than ever, with fewer backend-programming requirements. And in some cases, online tools let end users and OEMs quickly choose and configure robot features. This packaging design uses a robot that picks boxes off a high-speed conveyor and places them ona pallet. The picker must extend a full meter to grab the boxes and move them down to the floor and onto a pallet, making for a cantilever situation. Therefore, a cost-effective Cartesian robot makes the most sense. Robots of all types are spreading to new and creative applications, but Cartesian robots in particular are proliferating thanks to linear servomotors, hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ane1012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign seanes Cartesian robots, sometimes called gantry robots, are mechatronic devices that use motors and linear actuators to position a tool. They make linear movements in three axes, X, Y, and Z. Physical scaffolding forms a framework that anchors and supports the axes and payload. Certain applications, such as machining tightly toleranced parts, require full support of the base axis, usually the X axis. In contrast, other applications, such as picking bottles off a conveyor, require less precision, so the framework only needs to support the base axis in compliance with the actuator’s manufacturer recommendations. Cartesian-robot movements stay within the framework’s confines, but the framework can be mounted horizontally or vertically, or even overhead in certain gantry configurations. Download this article in .PDF format Fe is ste type includes high resolution graphics and schematics when applicable. In contrast, SCARAs and six-axis robots typically mount on a pedestal. SCARAs move in the X, Y, and Z planes like Cartesians, but incorporate a theta axis at the end of the Z plane to rotate the end-of-arm tooling. This makes SCARAs good for vertical assembly operations, such as inserting pins in holes without binding. However, the arm is essentially a lever, and that limits SCARAS' reach: The joints are load points that need robust bearings and high-torque motors to handle the loads when the arm extends. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ane4012/2020 The oie = MachineDesign. seanc them together with custom code for a timer to trigger a pick-and-place motion. Six-axis robots move forward and back, up and down, and can yaw, pitch, and roll to offer more directional control than SCARAs. This is suitable for complex movements that simulate a human arm — reaching under something to grab a part and place it on a conveyor, for example. The additional range of movement also lets six-axis robots service a larger volume than SCARAS can. Six-axis robots often execute welding, palletizing, and m: chine tending. Programming their movements in 3D is complex, so software typically maps the motion to a set of world coordinates in which the origin sits on the pedestal’s first joint axis. Picking between robot types To pick a robot, first evaluate the application’s needs. That starts with profiling the job’s load, orientation, speed, travel, precision, environment and duty cycle, sometimes called LOSTPED parameters. 1. Load. A robot's load capacity (defined by the manufacturer) must exceed the total weight of the payload, including any tooling, at the end of the robot arm. What limits SCARA and six- axis robots is that they support loads on extended arms. Consider a machining center that makes bearing assemblies of 100 kg or more. That payload exceeds the capabilities of all but the largest SCARA or six-axis robots. In contrast, a typical Cartesian robot can pick and place e, bet such loads with its support frame and bearings cor tly support the entire range of motion. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ang4012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign. seancn This Cartesian robot is just as reliable as SCARAs and articulating robots, which have set parameters and directions of movement. In contrast, Cartesian robots are reconfigurable so manufacturers dona || t have to buy new equipment when designs change. Even when a heavy load is within a robot's capacity, it ean degrade accuracy. For example, picking and placing 50-kg items is within the payload range of both SCARA and Cartesian, robots. But 50 kg is at the upper end of a typical SCARA’s capabilities, so it will take more costly controls and components to handle the torque. What’s more, typical SCARA robots can. place heavy payloads to within 0.1 mm, as the weight deflects the arm and degrades the hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots 519to1aaez0 ‘The Dfernce between Caresan, SA, and SCARA Roel | Machine Design = MachineDesign. seanc loads to within 10 um. 2. Orientation depends on how the robot is mounted and how it situates parts or products being moved. The goal is to match the robot's footprint to the work area. If a SCARA or six- axis robot's floor or line-mounted pedestal creates an obstruction, then such robots may not be the best option. If the application only needs movement in a few axes, then small-frame Cartesian robots can mount overhead and out of the way. But for intricate part handling or work needing four or more axes of motion, a Cartesian robot's framework can pose too many obstructions, and a small SCARA robot, sometimes requiring just 200 mm2 of space and four bolts on a pedestal, may be more suitable. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ang1012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign. SO seanes a = This Cartesian robot has controls that let operators safely enter the machine cage to teach it coordinates for picking and placing (sometimes just by pulling the end effector from point to point). That reduces training time for operators and reduces the need for engineers to alter machines already running. ‘Another factor is part orientation. SCARA and six-axis robots can rotate parts, an advantage for handling parts or tools at various angles and positions. To get similar flexibility, some Cartesian robots have subcomponents called feed modules that move light payloads in the Z axis. Typically, feed modules use a ball-screw thrust rod to move parts or tools along the Z axis in handling, pick-and-place, and feed applications. Cartesian robots can also incorporate rotary actuators to provide additional orientating capabilities. 3. Speed and travel. Along with load ratings, robot-manufacturer catalogs also list speed ratings. One key consideration when choosing robots for pick-and-place applications is acceleration times over significant distances. Cartesian robots can accelerate at 5 m/sec or more, rivaling the performance of SCARA and six-axis robots. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots m9to1aaez0 ‘The Dfernce between Caresan, SA, and SCARA Roel | Machine Design = MachineDesign. seanc long. Speed and distance are further customizable by choice of belt, linear motor, or ball-screw actuator. In contrast, articulating arms are typically predesigned for a given reach, such as 500 mm, for example. End users can change a Cartesian roboti‘_is mounting brackets, actuators, motors, and controls to meet changing application needs. For example, to accommodate new production requirements, an overhead-mounted Cartesian robot can change to a side mount. SCARA and six-axis robots have predefined accuracy ratings that make it easy to determine their repeatability of movement. But these robots lock designers into one level of accuracy at the time of purchase. End use an upgrade Cartesian or gantry robots to myriad levels of accuracy by changing the actuator, even to 10 um, with a ball screw. For less accuracy and to hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ang4012/2020 The oie nce betwoen Cartesian, Sx-Asis, and SCARA Robots | Machine Design = MachineDesign. seanc Precision is key in high-end applications such as machine tooling. Those Cartesian robots need better mechanical components such as precision-machined ball-rail tables and ball- screw actuators. For applications where SCARA and six-axis robot arms can’t maintain accuracy due to arm deflection, consider a Cartesian robot with high-precision linear bearings. The bearing spacing minimizes deflection so the end effector can be positioned more accurately. Although small work envelopes favor SCARA or six-axis robots, sometimes these robots’ complexity and higher cost are unnec ple where Cartesian robots work better ary. One is in a high-volume medical-pipette manufacturing application. Here, a robot takes pipettes from a mold and inserts them into a rack transported by a secondary automation machine. SCARA and six-axis robots are viable because 0.1-mm accuracy is sufficient in this application. But deflection is problematic when the robot handles smaller 3-mm pipettes. Plus, lack of room for a pedestal inside the cell favor gantry robots. mbient 5. Environment. Two factors that dictate the best robot are the working envelop environment and hazards in the space itself. A third consideration, whether a robot will go in a clean room, is generally not an issue because all robot types are manufactured in clean-room versions. The pedestals of SCARA and six-axis robots tend to be compact, which is handy with limited floor space. But this may be irrelevant if installers can mount the robot's support frame overhead or on a wall. In contrast, for applications with mechanical interference, as when a robot must reach into boxes to pull out parts, six-axis arms are usually most suitable. S hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots one4012/2020 The oie nce betwoen Cartesian, Sx-Asis, and SCARA Robots | Machine Design = MachineDesign. seanc On this robot, standardized components and diagnostics make maintenance less of a hassle. Cartesian robots are configurable so operators can also make basic changes in the field. Environmental factors such as dust and dirt also affect robot selection. Bellows can cover SCARA and six-axi: clean rooms using air purges, Cartesian robots let designers enclose the linear actuators in an robot joints, and different types of seals protect Z-axis actuators. For 1P65 structure that minimizes entry of water and dust. Plus, high-performance seals can enclose many of the axes’ structural components. 6. Duty cycle. This is the amount of time it takes to complete one cycle of operation. Robots that run continuously 24/7 (as in high-throughput screening and pharmaceutical manufacturing) reach end of life sooner than those running only 8-hr days, five days a week. Clarify these issues in advance, and get robots with long lubrication intervals and low maintenance requirements to prevent aggravation later. Robot programmability and controls The most-suitable robot for an application also depends on the requirements for controls and programmability. All robot controls interpolate point-to-point, linear, or circular movements through path following and programmed speed, acceleration, and deceleration parameters. The options are entry-level and high-performance controls. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots 1019‘1012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign. seanc ‘ie son cet, Earle oie ye pet etn yet en on CA el th mee lon yo have pet Yn corer nay ert ores ers hain eget pp tn i ay ‘Suplemertal Tools Engineers can design multiaxis Cartesian robots (as well as single-axis setups) with online selection and CAD tools that simplify sizing and specification. Entry-level controls are generally available only with Cartesian robots. These operate with three degrees of freedom, which require less computer processing and programming sophistication than robots with more axes and degrees of freedom. Here, controls typically convert linear machine-movement sequences into X, Y, and Z Cartesian coordinates. However, a range of control options gives designers a choice between linear or circular interpolation. So if an application only needs point-to-point motion — to pick up paper cups, for example — then lower-level controls suffice. High-performance controls process more degrees of freedom and convert machine-joint coordinates to the world coordinates necessary for complex rotary or circular movements. SCARA and six-axis robots usually have expensive, proprietary controls capable of circular interpolation and movement sequences — a justifiable expense when applications need complex profiling and path tracking. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots anne1012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign seanes ‘A software wizard tailors the program to specific applications and key parameters of the robot actuators, such ball-screw pitches. Simplified robotic mnemonic code lets the end user load and program the logic to save time. With this software, end users aren't locked into proprietary programs if they use a PLC that conforms to IEC 61131-3, which unifies the syntax and semantics of PLC languages. This means end users can use PLCs from different manufacturers and take their pick of programming with ladder diagrams, function-block diagrams, structured text, instruction list, or sequential function charts. Or programmers familiar with object-oriented languages can program PLCs without ladder logic or a proprietary language. Feed modules like the Rexroth VKK provide SCARA-like control for moving lighter payloads on a Cartesian robota || |s Z axis. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots ran4012/2020 The oie nce betwoen Cartesian, Sx-Asis, and SCARA Robots | Machine Design = MachineDesign. seanc machine changes to Cartesian robots. Function blocks can be preloaded into drives, so even lower-level workers unfamiliar with programming can handle programming for simple pick- and-place applications, for example. Today’s Cartesian robots can also communicate with vision systems, conveyor trackers, and other sensors via protocol standards including Sercos, Ethernet/IP, and EtherCAT, which reduces the cost of controls. SCARA and six-axis-robot features Technological developments have advanced all robot types in recent years, but SCARA and six-axis robots: + May come equipped to meet defined speed and motion specifications — and deliver higher performance right out of the box. + May cost more because they come with expensive features such as proprietary controllers. + Execute complicated tasks and require more programming for complex motion patterns. + Take up less space and weigh less to fit a predefined footprint while delivering a specified speed. + Exhibit less rigid arm extens ns, because they are built to be as light as possible to carry heavier payloads. + Come prebuilt for specific performance ratings (compared to Cartesian robots that designers can scale or tailor to specific needs). Cartesian-robot features Cartesian robots’ total cost of ownership has decreased 25% over the last five years due to pre- parameterized control packages, online design tools, and economies of scale. So now they are viable options for small to midsize manufacturers looking to automate storage-and-retrieval, pick-and-place, liquid-dispensing, packaging, and auxiliary machine-tool operations. In addition, Cartesian robots: + Consist of standardized components that combine into robots that cost less than purpose-built robots. This lets end users quickly assemble robots piece by piece hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots 1319to020 ‘The ference between Casi, Si, and SCARA Rebs | Machine Design = MachineDesign. seanc simplify assembly. + Can be specified with online tools. Online software takes some of the confusion out of how to leverage the mix-and-match modularity of Cartesian robots. It lets engineers plan linear motion for single or multiaxis automation by entering the mass to be moved and the required stroke. In the past, designers ordered Cartesian-robot subcomponents using individual part numbers from different vendors. Now, engineers can often order integrated robot modules — including rails, servodrives, mechanical elements, and controls — with one vendor part number. + Are safer. On legacy Cartesian robots, safety circuits connect to controls that introduce delays as they command the motor’s drive amplifier. Newer robots have intelligent servodrives instead, with safety circuits that accelerate response. These circuits also let Cartesian robots operate in reduced-torque mode, similar to the teach mode of SCARAs and six-axis robots. ‘These modes let operators enter the robot's safety cage and manually “teach” the robot coordinates to get a job done. To prevent injuries, robots in this mode shut down if it contacts the trainer. Resources: Bosch Rexroth hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots sano1012/2020 ‘The Difarance betwaen Cartesian, Sic-Axis, and SCARA Rabols | Machine Design = MachineDesign. seanc RELATED Picking, Purchasing, and Programming Your First Industrial Robot JAN 10, 2020 Robotics ‘Advancements in Robotic Safety FEB 1, 2010 Automation & lloT Dob, First Responders Have New UGV Option JAN 02, 2018 Mechanical & Motion Systems Warehouse Robots Smarten Up oct 0s, 207 Mechanical & Motion Systems Sign up for Machine Design eNewsletters Email address SIGN UP hitps:iwwnzmachinedesign.comimechenical motion-systemslaricle/21831692!the-diference-between-caresian-sixaxis-and-scara-robots 15191012/2020 ‘The Difarance betwaen Cartesian, Sic-Axis, and SCARA Rabols | Machine Design MachineDesign. seanes MECHANICAL & MOTION SYSTEMS Integrated Bearing Includes Seal The combined design reduces weight and costs. Stephen Mraz 1 FEB 07, 2020 Seals and bearings typically do their jobs out of sight and mind. Nevertheless, they are critical itp: mactnedesign.commnecharcalmotiorsystensarclel2t831682thedferercebeter-caresiansinari-andscwrerobots 16/194012/2020 The oie nce betwoen Cartesian, Sx-Asis, and SCARA Robots | Machine Design = MachineDesign. seanc performance, This means their durability and reliability should be as good as they can be to prevent failure. ‘At the same time, bearings and seals must be small, lightweight and cost-efficient in keeping with manufacturers’ efforts to remove cost and weight from vehicles without sacrificing performance. To come up with a bearing that could bring all this to the table—durability, low cost, lightweight and top-notch performance—engineers at Freudenberg Sealing Technologies started two years ago thinking out-of-the-box at the design stage. The main engineering challenge of the project was to minimalize installation space, weight and complexity. The team came up with the integrated bearing (SWIB), which combines a plastic rotating bearing and seal in a single, precisely matched unit. The design offers significant weight, cost and friction advantages over separate bearings and seals, and improves the properties of the mated bearings and seals. The seal comes with a coat of light lifetime grease, so it should need no future lubrication, but that depends on the application. ‘The bearing offers significant improvements compared with separate bearings and seals. The rigidity of the plastic bearing is high, so deflection is reduced by nearly 50% when lateral forces are exerted compared to conventional designs. This lowers the induced vibrations which raises driver's steering comfort. The seal, on the other hand, creates 35% less friction, which reduces resistance during steering. This is especially important for automated driving. The bearing’s weight was cut as much as 80%, thanks to combining the two components. Freudenberg designers validated the bearing and seal’s advantages through extensive testing. They checked the performance in temperature extremes of ~40 to 257°F (~40 to 125°C) while under mechanical stress. They also turned high-pressure water on it, which it could see when used in automotive steering subsystems during engine washes. ‘The design team also put the new bearing through its paces inside a sensor housing in an electrical power steering unit in an electric car. The sensor records data, such as steering angle, which is critical to driver-assistance features such as electronic stability control. The hitps:lwwn:machinedesign.comimechenical motionsystemslaricle/2183 1692!the-diference-between-caresian-sixaxis-and-scara-robots am91012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign. mechani loads as great as 3,000 N of radial force when a car drives over a curb with its wheels at an extreme angle. SEARCH Engineers at Freudenberg are already researching other applications for the new component. In addition to automotive applications, seals with integrated plastic bearings can likely benefit many industrial operations, according to the company. They also want to improve the manufacturing process. One idea is to switch to other materials and a two-component, injection molding process. RELATED What's the Difference Between Ceramic and Hybrid Bearings? DEC 1, 2018 Mechanical & Motion Systems “Lubed for Life” Bearings: Fact or Friction? AUG 31, 2017 Mechanical & Motion Systems Three Life-Changing Environments for Bearings FEB 1, 2014 Bearings Seal the bearings APR 01,2000 Automation & lo. hitps:ilwwnzmachinedesign.comlmechenical motion-systemslaricle/21831692!the-diference-between-catesian-sixaxis-and-scara-robots 18191012/2020 ‘The Difference between Cartesian, Sic-Axis, and SCARA Robols | Machine Design = MachineDesign seanes Load More Content MachineDesign. 2020 Endeavor Business Media, LLC. All rights reserved, hitps:lwwnzmachinedesign.commechenical motion-systemslaricle/21831692!the-diference-between-caresian-sixaxis-and-scara-robots 19n9