MX TECH 326

MODULE 2.1
OBJECTIVES

Define and describe what industrial robots

are and explain the different terminologies
used in the industry.

Differentiate the designs of industrial robots

based on their movements and degrees of
freedom.

Identify the various technologies used in

industrial robots, such as sensors, actuators,
and control systems.

Conceptualize the kinematics of each robot

and explain its use in industry.
INDUSTRIAL
ROBOTS
Industrial robots have become an
integral part of modern
manufacturing
cost effective
efficient way to carry out repetitive
tasks
In 2019, there are 2.7 million
industrial robots in operation
worldwide accdg. to Internat'l
Federation of Robotics.

(IFR, 2020)
INDUSTRIAL
ROBOTS
They come in different types and
configurations

Each are designed to perform

specific functions in a
manufacturing process

(IFR, 2020)
INDUSTRIAL
ROBOTS
The most common types of
industrial robots is the articulated
robot
has rotary joints that allow it to move
in multiple directions
are versatile and can be used for a
wide range of applications, including
welding, painting, and material handling

(IFR, 2020)
INDUSTRIAL
ROBOTS
Other types of industrial robots
include:
SCARA or (Selective Compliance
Assembly Robot Arm)
GANTRY
DELTA
Collaborative Robots
Each with their own unique
capabilities and limitations

(IFR, 2020)
MX TECH 326
WHAT IS
DOF?
Degrees of Freedom

refer to the number of

independent ways in which it
can move

the number of DOF affects the

robot's range of motion and
ability to perform specific tasks
ARTICULATED
ROBOT
one of the most common
types of industrial robots,
with rotary joints that allow for a
wide range of movements

the first articulated robot

developed in the 1950s by
George Devol and Joseph
Engelberger
ARTICULATED
ROBOT
it typically consists of a series of
connected links or arms, with
rotary joints between each
arm that allow for movement

these joints are usually driven

by electric motors

common articulated robots

have six axes, which provide a
high degree of flexibility and
precision
 Wrist Joint 1 Wrist Joint 2

Wrist Joint 3
Elbow Joint

Shoulder Joint

Base Joint

remaining four axes provide

movement in different
orientations
ARTICULATED
ROBOT
Articulated robots are
commonly used in applications
such as welding, painting,
material handling, and
assembly, among others
ARTICULATED
ROBOT
ADVANTAGES

Highly versatile and can perform a

wide range of tasks with multiple degrees
of freedom
Capable of reaching difficult and
confined spaces, making them ideal
for complex applications.
Able to handle heavy payloads with
high precision and accuracy
ARTICULATED
ROBOT
DISADVANTAGES

High initial cost due to the

complexity of the robot's design and
the advanced technology used.
Requires a significant amount of
space and infrastructure to operate
effectively, including safety barriers and
specialized programming software
Can be difficult to program and set
up
ARTICULATED
ROBOT
SOURCES:

Robotics Online. (2021). Articulated

Robots. Retrieved from
https://www.robotics.org/robotics/artic
ulated-robots

ScienceDirect. (2021). Articulated

robots. Retrieved from
https://www.sciencedirect.com/topics/c
omputer-science/articulated-robots
SELECTIVE
COMPLIANCE
ASSEMBLY
ROBOT
ARM
SCARA
ROBOT
was first developed by the
Japanese company Sankyo Seiki
in the late 1970s
a solution to the need for a
robot that could handle high-
speed, pick-and-place
operations with precision.
SCARA refers to the robot's
ability to be compliant in the X-Y
plane but rigid in the Z plane.
SCARA
ROBOT
American robotics company
Unimation, which had previously
released the first industrial
robot in 1961, developed their
own version of the SCARA
robot.
The name of Unimation's
SCARA robot is PUMA
(Programmable Universal
Machine for Assembly)
SCARA
ROBOT
typically have four degrees of
freedom and can move in the X,
Y, and Z planes, as well as rotate
around the vertical axis.

The movement of SCARA robots

is similar to that of a human
arm
 Joint 2

Joint 1
Joint 3

Base
SCARA
ROBOT
ADVANTAGES

High Speeds
Precision: can move in the x and y
directions, allowing for precise
movements in a confined space
Cost-effective
Compact design: have a small
footprint and can operate in tight
spaces, making them ideal for use in
applications where space is limited
SCARA
ROBOT
DISADVANTAGES
Limited range of motion
Limited payload capacity: they are
typically designed to handle light
payloads
Limited versatility: best suited for
applications such as pick-and-place
operations and assembly
Limited reach: may not have the reach
required to access all areas of a
workpiece or manufacturing
environment
GANTRY
ROBOT
also known as a Cartesian
robot or linear robot
it operates in a three-
dimensional space using a
Cartesian coordinate system
consists of a linear structure
that moves along three axes - X, Y,
and Z
allows it to perform pick-and-
place operations, material
handling, and assembly
GANTRY
ROBOT
its design consists of a
stationary base that
supports a horizontal beam
(the X-axis), which in turn
supports a vertical column
(the Y-axis)

The vertical column supports

a crossbeam (the Z-axis),
which carries the robot's end
effector
 X-Axis Z-Axis

Y-Axis
GANTRY
ROBOT
ADVANTAGES

Precise and repeatable

movements.
Can handle heavy loads and perform
high-speed operations.
The robot's linear structure provides a
large workspace and allows it to
move in a predictable and reliable
manner.
GANTRY
ROBOT
DISADVANTAGES

Its linear structure limits its ability to

perform complex movements or
reach certain areas

requires a significant amount of

floor space to operate

its design can be more expensive

than other types of industrial
robots
GANTRY
ROBOT
SOURCES

"Cartesian Coordinate Robots - Gantry

Robots." ABB Robotics,
www.abb.com/products/robotics/indus
trial-robots/cartesian-coordinate-
robots-gantry-robots.
DELTA
ROBOT
is commonly used in pick-
and-place operations and
high-speed packaging
applications.

consists of a series of arms

that are connected to a base
and can move in a coordinated
fashion
DELTA
ROBOT
History:
was first developed in the
1980s by the Swiss company
Reymond Clavel
was originally designed for
the food industry, where it
was used to pick and place
chocolate candies and biscuits
then became popular in
pharmaceuticals,
electronics, and automotive
DELTA
ROBOT
ITS DESIGN:
consists of three or four arms
that are connected to a
central joint, which is
mounted on a stationary
base.
these arms are connected to
a series of ball & socket
joints that allow them to move in
a wide range of directions
 MOTORS
STEPPER MOTORS

BALL JOINTS
UPPER ARM
BASE LOWER ARM

END EFFECTOR
BALL JOINTS
DELTA
ROBOT
ITS MOVEMENT:
The Delta robot's arms move
in a circular motion; this
allows it to move quickly and
with a high degree of
precision
The robot's end effector can
move up and down, side to
side, and forward and
backward
DELTA
ROBOT
ITS MOVEMENT:
robot's movement is often
described as "delta kinematics"
it refers to the complex
mathematical algorithms
that are used to calculate
the movement of the
robot's arms and joints.
the algorithms takes into
account the length of each arm,
position, and the orientation.
DELTA
ROBOT
ADVANTAGES:

its design allows it to move

quickly and high deg. of accuracy

compact and lightweight resulting

in easy construction

can work in tight spaces

DELTA
ROBOT
DISADVANTAGES:

its design can limit its ability to

handle heavy loads and high
deg. of force

most of its mechanical parts can

wear out over time (socket
joints)

the design can be very

expensive
DELTA
ROBOT
SOURCES:

"Delta Robots." ABB Robotics,

www.abb.com/products/robotics/indust
rial-robots/delta-robots.
THANK
YOU
Mechatronics & Applied
Robotics || MX TECH 326
Arne Josephus Morales