Robotics: Classification of Robots Based On Their Configuration

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Robotics
Robot is defined as "a reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or specialized devices through
various programmed motions for the performance of a variety of tasks”
Robots designed for industrial purposes are called industrial robots
An industrial robot is a manipulator designed to move materials, parts and

tools, and perform a variety of programmed tasks in manufacturing and
production settings.
Classification of Robots based on their configuration
Robots may be classified based on their physical configuration as follows
1. Cartesian or rectangular co-ordinate configuration robots

2. Polar or Spherical configuration robots
3. Cylindrical configuration robots
4. Articulating or jointed-arm configuration robots
Cartesian or rectangular co-ordinate configuration robots
Cartesian robot is formed by 3 prismatic joints, whose axes are coincident

with the X, Y and Z planes. In the Cartesian coordinate configuration shown
in figure, the three orthogonal directions are X,Y and Z. X-coordinate axis
may represent left and right motion; Y- coordinate axis may describe
Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

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forward and backward motion; Z-coordinate axis may be used to represent

up and down motions. The manipulator can reach any point in a cubic
volume of space. It allows three DOFs (x, y, z) in translation only.
Advantages:
1) 3 linear axes.
2) Easy to visualize, ability to do straight line insertions into furnaces.
3) Most rigid structure for given length.
4) Easy computation and programming.
Disadvantages:
1) Can only reach front of it.

2) Requires large floor space.
3) Axes hard to seal.
Applications: Pick and Place operations, Assembly and Sub-Assembly
(Mostly Straight), automated loading CNC Lathe and Milling operations,
Nuclear Material handling, Welding etc.
Polar or Spherical configuration robots
In the Spherical coordinate configuration shown in figure, the robot has one
linear and two angular motions.
Advantages:
1) 1 linear + 2 rotating axes.

2) Large working envelops.

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Disadvantages:
1) Can’t reach around obstacles.

2) Low accuracy.
3) Complex coordinates more difficult to visualize, control, and program.
Applications: Die Casting, Dip Coating, Forging, Glass Handling, Heat
Treating, Injection Moulding, Machine Tool Handling, Material Transfer,
Parts cleaning, Press Loading etc.
Cylindrical configuration robots
Cylindrical robot is able to rotate along his main axes forming a cylindrical
shape. In the cylindrical coordinate configuration shown in figure, Consists
of a vertical column, relative to which an arm assembly is moved up or
down. The arm can be moved in or out relative to the column.
Advantages:
1) 2 linear axes +1 rotating.

2) Can reach all around itself.
3) Reach and height axes rigid.
4) Rotational axis easy to seal.

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5) Relatively easy programming.

Disadvantages:
1) Can’t reach above itself.

2) Base rotation axis as less rigid.
3) Linear axes are hard to seal.
4) Won’t reach around obstacles.
Applications: Assembly, Coating Applications, Conveyor Pallet Transfer, Die
Casting, Forging Applications, Inspection Moulding, Investment Casting,
Machine Loading and Unloading etc.
Articulating or jointed-arm configuration robots
Jointed arm Configuration robots are mechanic manipulator that looks like
an arm with at least three rotary joints. The workspace of an articulated arm
is complex, often a three dimensional crescent. With all joints revolute, this
type of robot requires the most complex kinematic calculations.
Advantages:
1) All rotary joints allows for maximum capacity.

2) Any point in total volume can be reached.
3) All joints can be sealed from the environment.
Disadvantages:
1) Extremely difficult to visualize, control, and program.

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2) Low accuracy.
Applications: Assembly operations, Welding, Spray painting, Weld sealing
etc.
Applications of Robots
1. Industrial robots – These robots bring into play in an industrialized

manufacturing atmosphere. Typically these are articulated arms particularly
created for applications like- material handling, painting, welding and
others. If we evaluate merely by application then this sort of robots can also
consist of some automatically guided automobiles and other robots.
2. Domestic or household robots – Robots which are used at home. This

sort of robots consists of numerous different gears for example- robotic pool
cleaners, robotic sweepers, robotic vacuum cleaners, robotic sewer cleaners
and other robots that can perform different household tasks. Also, a number
of scrutiny and tele-presence robots can also be considered as domestic
robots if brought into play in that sort of environment.
3. M edical robots – Robots employed in medicine and medicinal institutes.

First & foremost surgical treatment robots. Also, a number of robotic
directed automobiles and perhaps lifting supporters.
4. Service robots – Robots that cannot be classed into any other types by
practice. These could be various data collecting robots, robots prepared to
exhibit technologies, robots employed for research, etc.
5. M ilitary robots – Robots brought into play in military & armed forces.
This sort of robots consist of bomb discarding robots, various shipping
robots, exploration drones. Often robots at the start produced for military
and armed forces purposes can be employed in law enforcement, exploration
and salvage and other associated fields.
6. Entertainment robots – These types of robots are employed for

entertainment. This is an extremely wide-ranging category. It begins with
model robots such as robosapien or the running photo frames and

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concludes with real heavy weights like articulated robot arms employed as
movement simulators.
7. Space robots – I would like to distinct out robots employed in space as a

split apart type. This type of robots would consist of the robots employed on
Canadarm that was brought into play in space Shuttles, the International
Space Station, together with Mars explorers and other robots employed in
space exploration & other activities.
8. Hobby and competition robots – Robots that is created by students.

Sumo-bots, Line followers, robots prepared merely for learning, fun and
robots prepared for contests.
9. Repetitive operations: such as placing a hot block on table of press by

pick up and correct placing as the robot can repeat these functions which
are very simple and easy, where as human effort is subjected to fatigue,
monotonous.
10. Hazardous environment: Movements of unsafe, unhealthy or

uncomfortable actions are potential use of a robot. For example, loading fuel
rods into nuclear reactor core or loading and unloading material into and
out of a hot furnace or spray painting or spot welding.
11. Handling hot or heavy jobs: such as transferring, positioning heavy

jobs on the machines, hot forging or furnace loading
Advantages of robots
Robots can carry out simple and repetitive work for human beings.
1. Robots do not take rest and so can work continuously for a longer
period. The productivity is raised.
2. They can be used in assembly work with high precision and density.
The quality of products is enhanced.
3. Robots can replace workers without laboring cost, and robots can
achieve stable production rate as robots will not be late to work,
resign, take day off or strike.

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4. The program can be modified easily so robots can increase the

flexibility in manufacturing.
5. They can work in unfavourable circumstances, e.g. removing the high-
temperature artifact from a casting machine, welding task, spraying
task, transportation of chemicals, etc., such work will affect the health
of the workers.
6. The manufacturing speed can be increased and the cost be reduced
when robots are used.
7. Using robots may minimize the wasting of materials.
8. Using robots can improve the quality of a product by its ability to
assemble precise components.
Disadvantages of robots
1. Very high initial cost

2. Needs skilled programmers
3. Leads to loss due to operational and technical problems
4. Robots are suitable only for large mass production industries
5. High maintenance cost

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1

Robot is defined as "a reprogrammable, multifunctional manipulator

Robots designed for industrial purposes are called industrial robots

An industrial robot is a manipulator designed to move materials, parts and

Classification of Robots based on their configuration

Robots may be classified based on their physical configuration as follows

1. Cartesian or rectangular co-ordinate configuration robots

Cartesian or rectangular co-ordinate configuration robots

Cartesian robot is formed by 3 prismatic joints, whose axes are coincident

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

forward and backward motion; Z-coordinate axis may be used to represent

1) Can only reach front of it.

Polar or Spherical configuration robots

1) 1 linear + 2 rotating axes.

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

1) Can’t reach around obstacles.

Cylindrical configuration robots

1) 2 linear axes +1 rotating.

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

5) Relatively easy programming.

1) Can’t reach above itself.

Articulating or jointed-arm configuration robots

1) All rotary joints allows for maximum capacity.

1) Extremely difficult to visualize, control, and program.

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

1. Industrial robots – These robots bring into play in an industrialized

2. Domestic or household robots – Robots which are used at home. This

3. M edical robots – Robots employed in medicine and medicinal institutes.

6. Entertainment robots – These types of robots are employed for

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

7. Space robots – I would like to distinct out robots employed in space as a

8. Hobby and competition robots – Robots that is created by students.

9. Repetitive operations: such as placing a hot block on table of press by

10. Hazardous environment: Movements of unsafe, unhealthy or

11. Handling hot or heavy jobs: such as transferring, positioning heavy

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

4. The program can be modified easily so robots can increase the

1. Very high initial cost

Shiva Shankar R, Department of Mechanical Engineering, DSCE-Bangalore

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