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ROBOTICS
WORKING AREA
TEMPUS IV Project: 158644 – JPCR

Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
• Types of joints used in robots
• The Robot Joints is the important

element in a robot which helps the
links to travel in different kind of
movements. There are five major
types of joints such as:
• Rotational joint
• Linear joint
• Twisting joint
• Orthogonal joint
• Revolving joint
Robot configurations:
There are five basic configurations commonly available
in commercial industrial robotics.

11 ROBOTICS
1 Cartesian Robots
A robot with 3 prismatic joints.
Commonly Applications
•pick and place work
•assembly operations
•handling machine tools
•arc welding
Types of industrial robots - YouTube

12 ROBOTICS
Cartesian Robots
Advantages:
Ability to do straight line insertions into furnaces.
Easy computation and programming.
Most rigid structure for given length.
Disadvantages:
•Requires large operating volume.
•Exposed guiding surfaces require covering in dusty environments.
•Can only reach front of itself
•Axes hard to seal

13 ROBOTICS
Cylindrical Robots
A robot with 2 prismatic joints and a rotary joint
Commonly used for:

• handling at die-casting
machines
• assembly operations
• handling machine tools
• spot welding

14 ROBOTICS
Robot body has a vertical column
that swivels about a vertical axis.
The arm consists of orthogonal

slides which allow the arm to be
moved up or down and in and out
with respect to the body.
CYLINDRICAL COORDINATE ROBOT

*
15 ROBOTICS
Cylindrical Robots
Advantages:
• can reach all around itself
• rotational axis easy to seal
• rigid enough to handle heavy loads through large working space
• good access into cavities and machine openings
Disadvantages:
• can't reach above itself
• linear axes is hard to seal
• won’t reach around obstacles
• exposed drives are difficult to cover from dust and liquids

16 ROBOTICS
POLAR COORDINATE ROBOT

17 ROBOTICS
Spherical/Polar Robots
A robot with 1 prismatic joint

and 2 rotary joints – the axes
consistent with a polar
coordinate system.
Commonly used for:

• handling at die casting or
fettling machines
• handling machine tools
• arc/spot welding

18 ROBOTICS
c) Polar coordinate configuration:
(Spherical configuration)
-The workspace within which it can move its arm is a
partial sphere.
-Has a rotary base and pivot that can be used to raise
and lower a telescoping arm

19 ROBOTICS
Spherical/Polar Robots
Advantages:
• large working envelope.
• two rotary drives are easily sealed against liquids/dust.
Disadvantages:
• complex coordinates more difficult to visualize, control,
and program.
• exposed linear drive.
• low accuracy.

20 ROBOTICS
- Similar to the human arm.
- Consists of several straight members connected by joints which
are analogous to the human shoulder.
JOINTED ARM CONFIGURATION

21 ROBOTICS
Articulated Robots
Advantages:
•all rotary joints allows for maximum flexibility
•any point in total volume can be reached.
•all joints can be sealed from the environment.
Disadvantages:
•extremely difficult to visualize, control, and program.
•restricted volume coverage.
•low accuracy

22 ROBOTICS
(Selective Compliance Articulated Robot Arm)
- Similar to jointed arm configuration.

- Shoulder and elbow rotational axes are vertical.
- Permits the robot to perform insertion tasks in a vertical direction.
SCARA TYPE CONFIGURATION
*
23 ROBOTICS
SCARA Robots (Selective Compliance Articulated
Robot Arm)
Commonly used for:

• pick and place work
• assembly operations

24 ROBOTICS
SCARA Robots
Advantages:
•high speed.
•height axis is rigid
•large work area for floor space
•moderately easy to program.
Disadvantages:
•limited applications.
•2 ways to reach point
•difficult to program off-line
•highly complex arm

25 ROBOTICS
Advantages and Disadvantages of the 5 Robot Types
Configuration Advantages Disadvantages
Cartesian 3 linear axes, easy to visualize, rigid Can only reach front of itself,
coordinates structure, easy to program requires large floor space, axes hard
to seal
Cylindrical 2 linear axes +1 rotating, can reach all Can’t reach above itself, base
coordinates around itself, reach and height axes rotation axis as less rigid, linear
rigid, rotational axis easy to seal axes is hard to seal, won’t reach
around obstacles
SCARA 1 linear + 2 rotating axes, height axis 2 ways to reach point, difficult to
coordinates is rigid, large work area for floor space program off-line, highly complex
arm
Spherical (polar) 1 linear + 2 rotating axes, long Can’t reach around obstacles, short
coordinates horizontal reach vertical reach
Revolute 3 rotating axes can reach above or Difficult to program off-line, 2 or 4

coordinates below obstacles, largest work area for ways to reach a point, most
least floor space complex manipulator
*
26 ROBOTICS
BASIC ROBOT MOTIONS:

27 ROBOTICS
BASIC ROBOT MOTIONS:
There are six degrees of freedom which provide the robot with the
capability to move the end effector through the required sequence of
motions.
•Vertical traverse: up and down motions of the arm
•Radial traverse: extension and retraction of the arm
•Rotation about the vertical axis
•Wrist swivel: Rotation of the wrist

•Wrist bend: up – or – down movement
•Wrist yaw : Right or Left swivel of the wrist
*
28 ROBOTICS
The Robotic Joints
A robot joint is a mechanism that
Depending on the nature of this
permits relative movement between relative motion between links, the
parts of a robot arm. joints are classified as
prismatic
The joints of a robot are designed to revolute.
enable the robot to move its end-
effector along a path from one
position to another as desired.

29 ROBOTICS
Robot anatomy and related attributes:
Joints and Links:
• A joint of an industrial robot is similar to a joint in the human body.
• Each joint or axis provides the robot with the degree of freedom.
Types of joints used in the robots:

a) Linear joint (Type L joint):
The relative movement between the input link and the output link is a
translational sliding motion, the axis of the two links being parallel
*
30 ROBOTICS
b) Orthogonal joint (Type O joint):
a translational sliding motion, the input and output links are
perpendicular to each other.

31 ROBOTICS
c) Rotational joint (Type R joint):
provides rotational relative motion, with the axis of rotation
perpendicular to the axes of the input and output links.
d) Twisting joint (Type T joint):

involves rotary motion, but the axis of rotation is parallel to the axes of
two links.

32 ROBOTICS
e) Revolving joint (Type V joint):
the axis of the input link is parallel to the axis of rotation

of the joint, and the axis of the output link is perpendicular
to the axis of rotation

33 ROBOTICS
The Robotic Joints
These degrees of
freedom, independently
or in combination with
others, define the
complete motion of the
end-effector.
These motions are

accomplished by
movements of
individual joints of the
robot arm. The joint
movements are
basically the same as
relative motion of
adjoining links.

34 ROBOTICS
35 ROBOTICS
• Robot Technical Features:
1 WORK VOLUME:
• The space within which the robot can operate.
• The spatial region within which the end of the robot’s wrist can be
manipulated.
• Determined by its physical configuration, size and the limits of its
arm and joint manipulations.
• Robot manufacturers usually show a diagram of the particular
model’s work volume.

36 ROBOTICS
Work volume of different robots:
Cartesian coordinate robot – Rectangular Box
Polar coordinate robot – Partial sphere
Cylindrical coordinate robot – Cylinder
Jointed arm robot – Partial sphere

37 ROBOTICS
Literature:
Chapter 3 Industrial Robotics part 21.ppt - Google Docs

38 ROBOTICS

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ROBOTICS

TEMPUS IV Project: 158644 – JPCR

• The Robot Joints is the important

There are five basic configurations commonly available

in commercial industrial robotics.

TEMPUS IV Project: 158644 – JPCR

A robot with 3 prismatic joints.

Types of industrial robots - YouTube

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

A robot with 2 prismatic joints and a rotary joint

Commonly used for:

TEMPUS IV Project: 158644 – JPCR

The arm consists of orthogonal

CYLINDRICAL COORDINATE ROBOT

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

A robot with 1 prismatic joint

Commonly used for:

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

JOINTED ARM CONFIGURATION

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

- Similar to jointed arm configuration.

Commonly used for:

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

Revolute 3 rotating axes can reach above or Difficult to program off-line, 2 or 4

TEMPUS IV Project: 158644 – JPCR

•Wrist swivel: Rotation of the wrist

TEMPUS IV Project: 158644 – JPCR

Types of joints used in the robots:

TEMPUS IV Project: 158644 – JPCR

d) Twisting joint (Type T joint):

TEMPUS IV Project: 158644 – JPCR

the axis of the input link is parallel to the axis of rotation

TEMPUS IV Project: 158644 – JPCR

These motions are

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

Polar coordinate robot – Partial sphere

Cylindrical coordinate robot – Cylinder

Jointed arm robot – Partial sphere

TEMPUS IV Project: 158644 – JPCR

TEMPUS IV Project: 158644 – JPCR

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