2.2.3 Describe the Spherical robot

(Tips: Make sure you know how to draw both the robot configuration and work envelop!)

Figure: Spherical Configuration

•       sometimes referred to as the polar configuration,

•       Resembles the action of the turret on a military tank. 

•       A pivot point gives the robot its vertical movement, and a telescoping boom extends and retracts to provide reach

•       Rotary movement occurs around an axis perpendicular to the base. 

Add caption

Figure: Spherical Work Envelop

•       Work envelope profile of a typical spherical configuration robot.

•       The spherical configuration generally provides a larger work envelope than the Cartesian or cylindrical configurations.

•       Typical Applications of Spherical Configurations Include the Following:

•       Die casting

•       Injection molding

•       Forging

•       Machine tool loading

•       Heat treating

•       Glass handling

•       Parts cleaning

•       Dip coating

•       Press loading

•       Material transfer

•       Stacking and unstacking

 

 Figure: Example

Figure: Example

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

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