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    Classification of Robot

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    Sourabh Angural
    This document classifies robots according to their degrees of freedom, kinematic structure, drive technology, workspace geometry, and motion characteristics. Robots can be classified as general purpose, redundant, or deficient based on their degrees of freedom. Their kinematic structure determines whether they are serial, parallel, or hybrid manipulators. Drive technology includes electric, hydraulic, or pneumatic systems. Workspace geometry results in Cartesian, cylindrical, spherical, articulated, or SCARA robot configurations. Finally, robots exhibit planar, spherical, or spatial motion characteristics.

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    Classification of Robot

    Uploaded by

    Sourabh Angural
    4K views2 pages
    This document classifies robots according to their degrees of freedom, kinematic structure, drive technology, workspace geometry, and motion characteristics. Robots can be classified as general purpose, redundant, or deficient based on their degrees of freedom. Their kinematic structure determines whether they are serial, parallel, or hybrid manipulators. Drive technology includes electric, hydraulic, or pneumatic systems. Workspace geometry results in Cartesian, cylindrical, spherical, articulated, or SCARA robot configurations. Finally, robots exhibit planar, spherical, or spatial motion characteristics.

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    This document classifies robots according to their degrees of freedom, kinematic structure, drive technology, workspace geometry, and motion characteristics. Robots can be classified as general purpose, redundant, or deficient based on their degrees of freedom. Their kinematic structure determines whether they are serial, parallel, or hybrid manipulators. Drive technology includes electric, hydraulic, or pneumatic systems. Workspace geometry results in Cartesian, cylindrical, spherical, articulated, or SCARA robot configurations. Finally, robots exhibit planar, spherical, or spatial motion characteristics.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    4K views2 pages

    Classification of Robot

    Uploaded by

    Sourabh Angural
    This document classifies robots according to their degrees of freedom, kinematic structure, drive technology, workspace geometry, and motion characteristics. Robots can be classified as general purpose, redundant, or deficient based on their degrees of freedom. Their kinematic structure determines whether they are serial, parallel, or hybrid manipulators. Drive technology includes electric, hydraulic, or pneumatic systems. Workspace geometry results in Cartesian, cylindrical, spherical, articulated, or SCARA robot configurations. Finally, robots exhibit planar, spherical, or spatial motion characteristics.

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    Robotscanbeclassifiedaccordingtovariouscriteriasuchastheirdegreesoffreedom,kinematicalstructure,drivetechnology,work

    shopgeometryandmotioncharacteristics.
    [A]ClassificationbyDegreesofFreedom:Amanipulatorshouldhave6degreesoffreedomtomanipulateanobjectfreelyinthree
    dimensionalspaces.Fromthispointofviewarobotmaybea
    1.Generalpurposerobot:ifitpossesses6degreesoffreedom.
    2.Redundantrobot:ifitpossessesmorethan6degreesoffreedom.Itprovidesmorefreedomtomovearoundobstaclesand
    operateinatightlyconfinedworkspace.
    3.Deficientrobot:ifitpossesseslessthan6degreesoffreedom.

    [B]ClassificationbyKinematicStructure:accordingtokinematicstructurerobotscanbeclassifiedas
    1.SerialRobotorOpenloopManipulator:Arobotissaidtobeaserialrobotoranopenloopmanipulatorifitskinematic
    structuretakestheformofanopenloopchain.Example:AdeptOneRobot.
    2.ParallelManipulator:ifitismadeupofaclosedloopchain.Ingeneral,aparallelmanipulatorhastheadvantagesof
    higherstiffness,higherpayloadcapacity,andlowerinertiatothemanipulationproblemthanacomparableserial
    manipulator,atthepriceofasmallerworkspaceandmorecomplexmechanism
    3.HybridManipulator:ifitconsistsofbothopenandclosedloopchains.Example:FanucS900W.Manyindustrialrobots
    employthistypeofrobotconstruction.

    [C] Classification by Drive Technology: Manipulators can also be classified by their drive technology. The three popular drive
    technologiesare
    1.Electric:MostmanipulatorsuseeitherelectricDCservomotororsteppermotorsbecausetheyarecleanandrelativelyeasy
    tocontrol.
    2.Hydraulic:usedforhighspeedand/orhighloadcarryingcapabilities.Amajordisadvantageassociatedwiththisisthe
    possibilityofleakingoils.Ahydraulicdriveisinherentlyflexible,duetobulkmodulusofoil.
    3.Pneumatic:Alsousedforhighspeedand/orhighloadcarryingcapabilities.Apneumaticdriveiscleanandfastbutitis
    difficulttocontrolbecauseairisacompressiblefluid.

    [D]ClassificationbyWorkspaceGeometry:theworkspaceofamanipulatorcanbedefinedasthevolumeofspacetheendofeffecter
    can reach. The workspace can be of two types: A reachable workspace is the volume of space within which every point can be
    reachedbytheendeffecterinatleastoneorientation.Adextrousworkspaceisthevolumeofspacewithinwhicheverypointcanbe
    reachedbytheendeffecterinallpossibleorientation.
    1.Cartesianrobot:Inthisthekinematicstructureofarobotarmismadeofthreemutuallyperpendicularprismaticjoints.
    ThewristcenterpositionofofaCartesianrobotcanbeconvenientlydescribedbythreeCartesiancoordinatesassociated
    withthethreeprismaticjoints.TheregionalworkspaceofaCartesianrobotisarectangularbox.
    WhenaCartesianrobotismountedonrailsaboveitsworkspace,itiscalleda
    gantryrobot.
    2.CylindricalRobot:ArobotarmiscalledcylindricalrobotifeitherthefirstorsecondjointofaCartesianrobotisreplaced
    byarevolutejoin.Thewristcenterpositionofacylindricalrobotcanbedescribedbyasetofcylindricalcoordinatesystem
    associatedwiththethreejointvariables.Theworkspaceofacylindricalrobotisconfinedbytwoconcentriccylindersof
    finitelength.

    3.SphericalRobot:ArobotarmiscalledasphericalrobotifeitherthefirstorsecondjointofaCartesianrobotisreplacedby
    arevolutejoint.Thewristcenterpositionofasphericalrobotcanbedescribedbyasetofsphericalcoordinatesystem
    associatedwiththethreejointvariables.Theworkspaceofcylindricalrobotisconfinedbytwoconcentricspheres.

    4.ArticulatedRobot:Arobotarmissaidtobeanarticulatedrobotifallthreejointsarerevolute.Theworkspaceofan
    articulatedrobotisverycomplex,typicallyacrescentshapedcrosssection.Pumarobotisanarticulatedrobot.

    5.TheSCARA(selectivecomplianceassemblyrobotarm)Robot:itisaspecialtypeofrobotconsistingoftworevolute
    jointsfollowedbyaprismaticjoint.Allthreejointaxesareparalleltoeachotherandusuallypointalongthedirectionof
    gravity.Thewristhasonedegreeoffreedomandhencetheentirerobothas4degreesoffreedom.Thistypeofrobotis
    usefulforassemblingpartsonaplane.

    [E]ClassificationbyMotionCharacteristics:robotmanipulatorscanalsobeclassifiedbyaccordingtotheirnatureofmotion.
    1.Planar:Amanipulatoriscalledaplanarmanipulatorifitsmechanismisaplanarmechanism.Planarmanipulatorsare
    usefulformanipulatinganobjectonaplane.
    2.Spherical:Arigidbodyissaidtobeunderasphericalmotionifallparticlesinthebodydescribecurvesthatlieon
    concentricspheres.Amechanismissaidtobeasphericalmechanismifallthemovinglinksperformsphericalmotionabout
    acommonstationarypoint.Amanipulatoriscalledasphericalmanipulatorifitismadeupofasphericalmechanism.
    3.SpatialManipulator:Arigidbodyissaidtoperformaspatialmotionifitsmotioncannotbecharacterizedasplanaror
    sphericalmotion.Amanipulatoriscalledaspatialmanipulatorifatleastoneofthemovinglinksinthemechanism
    possessesageneralspatialmotion.Planarandsphericalmechanismscanbeconsideredasspecialcasesofspatial
    mechanisms.

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