2.2 Understand The Different Robot Design Configurations With Their Dominant Characteristics

•       The four major configurations are: Revolute, Cartesian, Cylindrical, and Spherical.

2.2.1 Describe The Cartesian Robot

 

•       Because movement can start and stop simultaneously along all three axes, motion of the tool tip is smoother.

•       This allows the robot to move directly to its designated point, instead of following trajectories parallel to each axis. Look at the Figure below

       The rectangular work envelope of a typical Cartesian configuration 

(Tips:Make sure you can draw both the robot configuration and the work envelop)

•       Cartesian Configuration Advantages

–      linear movement allows for simpler controls

–      High degree of mechanical rigidity, accuracy, and repeatability.

–       They can carry heavy loads, and this weight lifting capacity does not vary at different locationswithin the work envelope. 

•       Cartesian Configuration Disadvantages

–      Cartesian robots are generally limited in their movement to a small, rectangular work space.

•       Typical applications for Cartesian robots :

•       Assembly

•      Machining operations

•      Adhesive application

•       Surface finishing

•       Inspection

•      Waterjet cutting

•      Welding

•      Nuclear material handling

•      Robotic X-ray and neutron radiography

•      Automated CNC lathe loading and operation

•       Remotely operated decontamination

•      Advanced munitions handling

 Figure: Standard configuration

 

 Figure: Gantry Configuration

VIDEO: Gantry Robot In Action!!!

(source:http://203.115.126.36:8080/xmlui/bitstream/handle/123456789/551/fundamentals%20of%20robotics.pdf?sequence=1)

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