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Classification of Robot

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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Sourabh Angural
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4K views2 pages

Classification of Robot

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.

Uploaded by

Sourabh Angural
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Robotscanbeclassifiedaccordingtovariouscriteriasuchastheirdegreesoffreedom,kinematicalstructure,drivetechnology,work

shopgeometryandmotioncharacteristics.
[A]ClassificationbyDegreesofFreedom:Amanipulatorshouldhave6degreesoffreedomtomanipulateanobjectfreelyinthree
[Link]
[Link]:ifitpossesses6degreesoffreedom.
[Link]:[Link]
operateinatightlyconfinedworkspace.
[Link]:ifitpossesseslessthan6degreesoffreedom.

[B]ClassificationbyKinematicStructure:accordingtokinematicstructurerobotscanbeclassifiedas
[Link]:Arobotissaidtobeaserialrobotoranopenloopmanipulatorifitskinematic
[Link]:AdeptOneRobot.
[Link]:[Link],aparallelmanipulatorhastheadvantagesof
higherstiffness,higherpayloadcapacity,andlowerinertiatothemanipulationproblemthanacomparableserial
manipulator,atthepriceofasmallerworkspaceandmorecomplexmechanism
[Link]:[Link]:[Link]
employthistypeofrobotconstruction.

[C] Classification by Drive Technology: Manipulators can also be classified by their drive technology. The three popular drive
technologiesare
[Link]:MostmanipulatorsuseeitherelectricDCservomotororsteppermotorsbecausetheyarecleanandrelativelyeasy
tocontrol.
[Link]:usedforhighspeedand/[Link]
[Link],duetobulkmodulusofoil.
[Link]:Alsousedforhighspeedand/[Link]
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
[Link]
reachedbytheendeffecterinallpossibleorientation.
[Link]:Inthisthekinematicstructureofarobotarmismadeofthreemutuallyperpendicularprismaticjoints.
ThewristcenterpositionofofaCartesianrobotcanbeconvenientlydescribedbythreeCartesiancoordinatesassociated
[Link].
WhenaCartesianrobotismountedonrailsaboveitsworkspace,itiscalleda
gantryrobot.
[Link]:ArobotarmiscalledcylindricalrobotifeitherthefirstorsecondjointofaCartesianrobotisreplaced
[Link]
[Link]
finitelength.

[Link]:ArobotarmiscalledasphericalrobotifeitherthefirstorsecondjointofaCartesianrobotisreplacedby
[Link]
[Link].

[Link]:[Link]
articulatedrobotisverycomplex,[Link].

[Link](selectivecomplianceassemblyrobotarm)Robot:itisaspecialtypeofrobotconsistingoftworevolute
[Link]
[Link]
usefulforassemblingpartsonaplane.

[E]ClassificationbyMotionCharacteristics:robotmanipulatorscanalsobeclassifiedbyaccordingtotheirnatureofmotion.
[Link]:[Link]
usefulformanipulatinganobjectonaplane.
[Link]:Arigidbodyissaidtobeunderasphericalmotionifallparticlesinthebodydescribecurvesthatlieon
[Link]
[Link].
[Link]:Arigidbodyissaidtoperformaspatialmotionifitsmotioncannotbecharacterizedasplanaror
[Link]
[Link]
mechanisms.

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