Industrial Robots Manipulator Structures

8/11/2019 Industrial Robots Manipulator Structures

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ManipulatorStructures


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A robot manipulator is a device used to manipulate materialwithout direct contact.

Robot manipulators consist of rigid links, which are connectethrough joint actuators that create relative motion ofneighboring links.

Manipulator can be divided in to two sections.o Body and Arm

o Wrist


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Arm and Body !he arm and

body of a robot are used to

move and position parts or toolswithin a work envelope. !hey

are formed from three joints

connected by large links.

Wrist !he wrist is used to orientthe parts or tools at the work

location. "t consists of two or

three compact joints.


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# threejoints connected by large links #..

Link - !he connection of different manipulator jointis known as Robot $inks.

A link will be in the form of solid material.!here are two types of linkso "nput $inks

o %utput $inks!he movement of the input link allows the output tthe move at various motions.

An input link will be located nearer to the base.


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Joint "ntegration of two or more link is known as a &ointJoint Axiso An a'is is a straight line around which a link rotates, or along a link move

A joint is an important element in a robot manipulator. "t allothe links to move relative to each other.

&oints are categori(ed according to the relative motion of thlinks.

PrismaticJoints

Linear Ortho onal

RevoluteJoints

Rotational Revolvin Twist


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evolute Jointstational Joints

!his type will allow links to perform rotary motion about the joint a'is

&oint a'es is perpendicular to the motion plane of the link.Rotational &oints are represented as R-joints.

volving Joints

!he output link a'is is perpendicular to the joint a'is and the input liis parallel to the input link a'is.

Revolving &oints are represented as V-Joints


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evolute Jointsisting Joints (ylindri!al Joints"

!his type allows twist motion among the input link and the output lin

$ink a'es and joint a'is are parallel.!wisting &oints are represented as T-joints.


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rismatic Jointsear Joints

!his type of joints can perform both translational and sliding

movements. $ink a'es and the joint a'is are parallel.$inear &oints are represented as L-joints.

t$ogonal Joints

!his type of joints are similar to the linear joints but the output link ais perpendicular to the input and joint a'es.

%rthogonal &oints are represented as #-Joints


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rial Link Manipulators"n a serial link manipulator every link isconnected to every other link by one andonly one path.

Advantages

large workspace with respect to the si(e ofthe robot and the floor space it occupies

%isadvantages the low stiffness inherent to an open

kinematic structure,

errors are accumulated and amplified fromlink to link,

the fact that they have to carry and move

the large weight of most of the actuators,and

the relatively low effective load that they


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rallel Link Manipulatorsery link is connected to every other link by atst two distinct paths.

Advantages high rigidity can be achieve with a small

mass of the manipulator.

can achieve high precision and highspeeds.

can handle large payloads compared to

serial link manipulators.%isadvantages

limited si(e of the workspace

e'istence of singularities


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erar!$y o' ani)*lators

ManipulatorStructures

Serial LinkManipulator

Cartesian Root

C!lin"ricalRoot

Spherical Root

SC#R# $

SC#R# $$

#rticulate"Root

Parallel Link

StewartPlat%orm


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artesian Robot*otation + $%% ---Made out of three sliding joints.

Work envelop of cartesian robot is arectangular bo'.

+re!ision

o /ori(ontal -recision + 0niform

o 1ertical -recision + 0niform

Advantageso 2imple structure

o /igh rigidity

o /igh precision.o /igh repeatability.


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artesian Robot%isadvantageso $ow de'terity

o 2i(e of the robot is larger than the workenvelop

o $ess number of degrees of freedom

A))li!ations

o 3*3 machines

o 3ircuit board manufacturing

o Machine loading and unloading

o 2tacking, uniti(ing, palleti(ing,

o 3oordinate measuring applications


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ylindrical Robot*otation + !$% R--Made out of one revolute joint and

two sliding joints.Work envelop is cylinder like.

Mainly three degree of freedom

*ot widely used in modern industry

+re!ision

o /ori(ontal -recision + 4ecrease radially.o 1ertical -recision + 0niform.

A))li!ations

o -ick and place applicationso $oading unloading applications


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herical Robot*otation + !R$ RR-Made out of two revolute joints and

one sliding joints.Work envelop is sphere like

Mainly three degree of freedom

*ot widely used in modern industry

+re!ision

o /ori(ontal -recision + 4ecrease radially.o 1ertical -recision + 4ecrease radially.

A))li!ations

o Material handling applications


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ARA Robot*otation + 1R% RR-23ARA 5 2elective 3ompliant Assembly

Robot Arm.Made out of two revolute joints andone sliding joints.

3an achieve high speed movements.

+re!ision

o /ori(ontal -recision + 1aries.

o 1ertical -recision + 0niform.

A))li!ations

o -ick and place applicationso -3B Manufacturing applications


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rticulated Robot*otation + RRR RRRMade out of three revolute joints

Analogous to human arm

Most widely used industrial robot

Most robots have five or si' degreesof freedom


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rticulated Robot+re!isiono /ori(ontal -recision + 1aries.

o 1ertical -recision + 1aries.A))li!ations

o -ick and place applications.

o 2tacking, uniti(ing, palleti(ing.

o Welding applications.

o -ainting applications.

o Machine loading applications

o 4rilling, deburing applications

Industrial Robots Manipulator Structures

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