ASSIGNMENT NO.

1
GEOMETRIC CONFIGURATION FOR ROBOTS

Define these different types of Arm Designs and cite some of its applications:
⚫ Cartesian
⚫ Spherical/Polar
⚫ Cylindrical
⚫ SCARA
⚫ Anthropomorphic Arm

Cartesian - Cartesian robots that employ three linear axes and the Cartesian Coordinate System (X, Y, and Z)
that move in straight lines on three axes are known as cartesian robots, sometimes known as linear robots or
gantry robots (up and down, in and out, and side to side). Cartesian robots are a popular option because of
their configuration flexibility, which enables users to alter the robot's speed, accuracy, stroke length, and size.
One of the most popular robot kinds for industrial applications, cartesian robots are frequently employed with
CNC machines and 3D printers.

Spherical/Polar - The arm of these robots, also known as spherical robots, is attached to the base using a
twisting joint as well as a combination of two rotational joints and one linear joint. The axes produce a
spherical-shaped work envelope and a polar coordinate system.

Cylindrical - The base of the robot contains at least one rotary joint, and the links are connected by at least
one prismatic joint. The prismatic joint operates in a linear motion, whereas the rotary joint uses a circular
motion along the joint axis. Robots that are cylindrical work within a cylindrical work envelope.

SCARA - This selectively compliant arm for robotic assembly is typically utilized in assembly applications and is
primarily cylindrical in shape. Two parallel joints are present, offering compliance in the chosen plane.

Anthropomorphic Arm - Articulated robotic arms are robotic arms with revolute joints, also known as
rotating robotic arms or anthropomorphic robotic arms. The anthropomorphic design resembles that of a
human arm, including shoulder, elbow and wrist joints
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