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Robot Work Envelope and Configurations

The document discusses robot work envelopes and configurations. It defines a work envelope as the volume reachable by the robot arm's end effector, excluding any tools or workpieces. Within the envelope are dead zones that cannot be reached. Common robot configurations include Cartesian/rectangular robots with 3 linear joints, cylindrical robots with 2 prismatic and 1 revolute joint, spherical robots with 1 prismatic and 2 revolute joints, articulated/anthropomorphic robots with all revolute joints similar to a human arm, and SCARA robots with 2 parallel revolute joints and 1 prismatic joint for vertical movement. Examples of SCARA robot applications include small floor areas, screw tightening, inspection, material handling, and assembly cells.

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Abdus Salam Ratan
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328 views11 pages

Robot Work Envelope and Configurations

The document discusses robot work envelopes and configurations. It defines a work envelope as the volume reachable by the robot arm's end effector, excluding any tools or workpieces. Within the envelope are dead zones that cannot be reached. Common robot configurations include Cartesian/rectangular robots with 3 linear joints, cylindrical robots with 2 prismatic and 1 revolute joint, spherical robots with 1 prismatic and 2 revolute joints, articulated/anthropomorphic robots with all revolute joints similar to a human arm, and SCARA robots with 2 parallel revolute joints and 1 prismatic joint for vertical movement. Examples of SCARA robot applications include small floor areas, screw tightening, inspection, material handling, and assembly cells.

Uploaded by

Abdus Salam Ratan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Robot work envelope and configurations

Md. Abu Sayeed Biswas


Lecturer
Dept. of Industrial & Production Engineering
Bangladesh University of Textiles
Robot work envelope
•The working envelope refers to the working volume which can be reached by some point at the
end of the Robot arm, this point is usually the centre of the end effector mounting plate. It
excludes any tools or workpiece which the end effector may hold.
•There are often areas within the working envelope which cannot be reached by the end of the
Robot arm. Such areas are termed dead zones.
Robot Configurations
Some of the commonly used configurations in Robotics are
• Cartesian/Rectangular Gantry(3P) : These Robots are made of 3 Linear joints that orient the end
effector, which are usually followed by additional revolute joints.
Cartesian Robot - Work Envelope
Robot Configurations

Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and one revolute joint.
Cylindrical Robot - Work Envelope
Robot Configurations

Spherical joint (2RP): They follow a spherical coordinate system, which has one
prismatic and two revolute joint.
Spherical Robot - Work Envelope
Robot Configurations

Articulated/anthropomorphic(3R) :An articulated robot’s joints are all


revolute, similar to a human’s arm.
Robot Configurations

• Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They have two revolute
joints that are parallel and allow the Robot to move in a horizontal plane, plus an additional
prismatic joint that moves vertically
SCARA robot application

• Floor area is small compare to work area, so can be put everywhere.


• Screw tightening work.
• Finished product inspection, touch-panel type evaluation machine.
• Material handling purpose.
• Tall work pieces conveying and stacking machine
• Assembly cell.

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