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【正文】 Gantry Robot ? Vary widely in size, workspaces from “breadloaf” size to several cubic meters Characteristics of Cartesian Robots ? Advantages: ? easy to visualize ? have better inherent accuracy than most other types ? easy to program offline ? highly configurable get the size needed ? Disadvantages: ? not space efficient ? external frame can be massive ? Z axis “post” frequently in the way ? Axes hard to seal ? Can only reach in front of itself Cylindrical Configuration ? First joint is revolute (rotation) Next two joints are prismatic (RPP) Cylindrical Configuration ? Vertical Z axis is located inside the base ? Compact endofarm design that allows the robot to reach into tight work envelopes without sacrificing speed or repeatability Cylindrical Design Robot Cylindrical Workspace ? Another “easy” workspace to pute and visualize Characteristics of Cylindrical Robots ? Advantages: ? large workspace for size ? easily puted kinematics ? can reach all around itself ? reach and height axes rigid ? Disadvantages: ? cannot reach above itself ? horizontal axis frequently in the way ? largely fallen “out of favor” and not mon in new designs Spherical Configuration ? First two joints are revolute (rotation) Last joint is prismatic (RRP) ? One of the earliest mon robot designs (original UniMate) ? Used in a variety of industrial tasks such as welding and material handling Spherical Configuration Spherical Design Robots Spherical Workspace ? Workspace shaped like parts of “orange peel” ? Harder to pute and visualize Spherical Workspace Characteristics of Spherical Robots ? Advantages: ? large workspace for size ? easily puted kinematics ? Disadvantages: ? has short vertical reach ? horizontal axis frequently in the way ? also fallen “out of favor” and not mon in new designs Anthropomorphic Configuration ? First three joints are revolute or rotational (RRR) ? Easily the most mon type of modern robot Anthropomorphic Configuration ? Suitable for a wide variety of industrial tasks, ranging from welding to assembly ? Often called an anthropomorphic arm because it resembles a human arm Anthropomorphic Configuration ? Anthropomorphic association extends to names of the links joints Joint 1 “Waist” Joint 2 “Shoulder” Joint 3 “Elbow” ? Anthropomorphic association extends to names of the links joints Link 1 “Trunk” Link 2 “Upper Arm” Link 3 “Forearm” Anthropomorphic Configuration ? Very hard to pute and visualize Anthropomorphic Configuration Characteristics of Anthropomorphic Robots ? Advantages: ? excellent reach for size ? can reach above or below obstacles characteristics similar to human arm ? large workspace for size ? Disadvantages: ? plicated kinematics ? difficult to program offli
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