Handout 2: ME460 1

Robot and Robot Classification

Logics of presentation:

Robot definition

Robot classification

Handout 2: ME460 2

Robot Definition

Functional viewpoint:

- automatically controlled,

- reprogrammable multipurpose

- reprogrammable axes

Structural viewpoint: (see Fig. 2-1)

- mechanical arm (see Fig. 2-2)

- controller

Handout 2: ME460 3

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

Handout 2: ME460 7

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.