Industrial Robots Manipulator Structures

Manipulator
Structures
What is a Manipulator?
A robot manipulator is a device used to manipulate materials
without direct contact.
Robot manipulators consist of rigid links, which are connected
through joint actuators that create relative motion of
neighboring links.
Manipulator can be divided in to two sections.
o Body and Arm
o Wrist
What is a Manipulator?
Arm and Body !he arm and
body of a robot are used to
move and position parts or tools
within a work envelope. !hey
are formed from three joints
connected by large links.
Wrist !he wrist is used to orient
the parts or tools at the work
location. "t consists of two or
three compact joints.
Manipulator Elements
## three joints connected by large links #..
Link - !he connection of different manipulator joints
is known as Robot $inks.
A link will be in the form of solid material.
!here are two types of links
o "nput $inks
o %utput $inks
!he movement of the input link allows the output to
the move at various motions.
An input link will be located nearer to the base.
Joint "ntegration of two or more link is known as a &oint
Joint Axis
o An a'is is a straight line around which a link rotates, or along a link moves.
A joint is an important element in a robot manipulator. "t allows
the links to move relative to each other.
&oints are categori(ed according to the relative motion of the
links.
Prismatic
Joints
Linear
Joints
Orthogonal
Joints
Revolute
Joints
Rotational
Joints
Revolving
Joints
Twist
Joints
Revolute Joints
Rotational 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.
Revolving Joints
!he output link a'is is perpendicular to the joint a'is and the input link
is parallel to the input link a'is.
Revolving &oints are represented as V-Joints
Revolute Joints
Twisting Joints (ylindri!al Joints"
!his type allows twist motion among the input link and the output link.
$ink a'es and joint a'is are parallel.
!wisting &oints are represented as T-joints.
Prismatic Joints
Linear Joints
!his type of joints can perform both translational and sliding
movements. $ink a'es and the joint a'is are parallel.
$inear &oints are represented as L-joints.
#rt$ogonal Joints
!his type of joints are similar to the linear joints but the output link a'is
is perpendicular to the input and joint a'es.
%rthogonal &oints are represented as #-Joints
Serial Link Manipulators
"n a serial link manipulator every link is
connected to every other link by one and
only one path.
Advantages
large workspace with respect to the si(e of
the robot and the floor space it occupies
%isadvantages
the low stiffness inherent to an open
kinematic structure,
errors are accumulated and amplified from
link 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
can manipulate.
Manipulator Structures
Parallel Link Manipulators
)very link is connected to every other link by at
least two distinct paths.
Advantages
high rigidity can be achieve with a small
mass of the manipulator.
can achieve high precision and high
speeds.
can handle large payloads compared to
serial link manipulators.
%isadvantages
limited si(e of the workspace
e'istence of singularities
&ierar!$y o' (ani)*lators
Manipulator
Structures
Serial Link
Manipulator
Cartesian Root
C!lin"rical
Root
Spherical Root
SC#R# $
SC#R# $$
#rticulate"
Root
Parallel Link
Manipulator
Stewart
Plat%orm
Cartesian Robot
*otation + $%% ,---.
Made out of three sliding joints.
Work envelop of cartesian robot is a
rectangular bo'.
+re!ision
o /ori(ontal -recision + 0niform
o 1ertical -recision + 0niform
Advantages
o 2imple structure
o /igh rigidity
o /igh precision.
o /igh repeatability.
o /igh speeds.
Cartesian Robot
%isadvantages
o $ow de'terity
o 2i(e of the robot is larger than the work
envelop
o $ess number of degrees of freedom
A))li!ations
o 3*3 machines
o 3ircuit board manufacturing
o Machine loading and unloading
o 2tacking, uniti(ing, palleti(ing,
o 3oordinate measuring applications
Cylindrical Robot
*otation + !$% ,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 applications
o $oading unloading applications
Spherical Robot
*otation + !R$ ,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
SCARA Robot
*otation + 1R% ,RR-.
23ARA 5 2elective 3ompliant Assembly
Robot Arm.
Made out of two revolute joints and
one 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 applications
o -3B Manufacturing applications
Articulated Robot
*otation + RRR ,RRR.
Made out of three revolute joints
Analogous to human arm
Most widely used industrial robot
Most robots have five or si' degrees
of freedom
Articulated Robot
+re!ision
o /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

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