Handout 2: ME460 1 Robot and Robot Classification Logics of presentation: Robot definition Robot classification
Jan 12, 2016
Handout 2: ME460 1
Robot and Robot Classification
Logics of presentation:
Robot definition
Robot classification
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Robot Definition
Functional viewpoint:
- automatically controlled,
- reprogrammable multipurpose
- reprogrammable axes
Structural viewpoint: (see Fig. 2-1)
- mechanical arm (see Fig. 2-2)
- controller
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Fig. 2-1
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Structural view (continued)
- teach station
- work cell interface
- program storage device
- power system (electrical, hydraulic, etc.)
- end-effector or tooling or gripper
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Fig. 2-2
Mechanical arm
1. Body motion2. wrist motion
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Robot Classification
The classification is based on the body motion but not
the wrist motion
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Cartesian geometry:
(a) Gantry - type (Fig. 2-3)
(b) Cartesian (Fig. 2-4)
Spherical geometry (Fig. 2-5) Cylindrical coordinate (Fig. 2-6) Articulated geometry
(a) vertical (Fig. 2-7)
(b) horizontal (Fig. 2-8)
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Fig. 2-3 Cartesian geometry: Gantry - type
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Fig. 2-4 Cartesian geometry: Cartesian
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Fig. 2-5 Spherical geometry
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Fig. 2-6 Cylindrical coordinate
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Fig. 2-7 Articulated geometry: vertical
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Fig.2-8 Articulated geometry: horizontal
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Work space
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Robot Controller Fig. 2-9
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Gripper Fig. 2-10
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Summary
1. Robot definition from two perspectives: functional and structural.
2. Robot classification is based on body motion but not wrist motion.