Geometric Design to represent the robot in

a rectangular coordinate system as

like P-P-P, R-R-R, P-R-P, R-R-P.

Presented by
Aditi Bhattacharya
Revolute and Prismatic Joint
Prismatic joint is a joint that only allows linear
motion along a single axis (1DOF).
Revolute joint is a joint that only allows
rotational motion about a single axis (1DOF).
Robot Coordinate System
There are four major coordinate systems on which
robots are generally specified.
• Cartesian Coordinate System
• Cylindrical Coordinate System
• Spherical Coordinate System
• Revolute Coordinate System
Cartesian Coordinate System
• Cartesian Coordinate
Configuration has 3
orthogonal directions, x, y
and z.
• It has 3 DOF
• PPP lower pair connectors
which indicates 3 prismatic
joints
Cylindrical Coordinate System
• Cylindrical coordinate
configuration has RPP
lower pair connectors
• It has three DOFs – two
linear and one rotational
which corresponds to a
translation r, an angular
motion θ and a
translation in z direction
that indicates up and
down motion.
Spherical Coordinate System

• It has one linear and two

angular motion (RRP)
• The rotation occurs at
the base and elbow
• It has 3 DOF
Revolute Coordinate System
• This configuration has RRR
lower pair connectors
• It has 3 revolute joints
which means 3 rotations
and no translation.
• It has 3 DOF
• The anthropomorphic
design is similar to a
human arm, having a waist,
shoulder and elbow joints.
Work Envelope of Robot Configuration
A robot’s work envelope is its range of movement and
the shape created by a manipulator when it extends its
arms. These distances are determined by the length of a
robot’s and the design of its axis.
Thank You