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Industrial Robots
Industrial Robots
• The body-and-arm of the robot is used to position the end effector, and
the robot’s wrist is used to orient the end effector.
Body-and-Arm Configurations
• There are five basic configurations commonly available in commercial
industrial robots:
• A two D-O-F wrist typically includes only roll and pitch joints (T and
R joints)
Joint Notation System
• The letter symbols for the five joint types (L, O, R, T, and V) can be used
to define a joint notation system for the robot manipulator.
• In this notation system, the manipulator is described by the joints that
make up the body-and-arm assembly, followed by the joint symbols that
make up the wrist.
• For example, the notation TLR:TR represents a five degree-of-freedom
manipulator whose body-and-arm is made up of :
1. A twisting joint (Joint 1 = T)
2. A linear joint (joint 2 = L)
3. A rotational joint (joint 3 = R)
• The wrist consists of two joints:
4. A twisting joint (joint 4 = T)
5. A rotational joint (joint 5 = R)
• Solution
1. This configuration has two linear joints, Hence, it is designated LL.
2. This configuration has three rotational joints, Hence, it is designated RRR.
3. This configuration has one twsiting joint and one linear joint. This is
indicated by TL
Joint Notation System - Example
• The robots shown below are equipped with a wrist that has twisting, rotary,
and twisting joints in sequence from the arm to the end-effector. Give the
designation for the complete configuration of each robot
• Tools are used in applications where the robot must perform some
processing operation on the part. Examples of the tools are:
1. Spot welding gun.
2. Arc welding tool.
3. Spray painting gun.
4. Rotating spindle for drilling, grinding, and so forth.
5. Assembly tool (e.g. automatic screw driver)
6. Heating torch.
End Effectors