1. Robot and Robot Classification
Logics of presentation:
Robot definition
Robot classification
Handout 2: ME460

2. Robot Definition Functional viewpoint: - automatically controlled,
- reprogrammable multipurpose
- reprogrammable axes
Structural viewpoint: (see Fig. 2-1)
- mechanical arm (see Fig. 2-2)
- controller
Handout 2: ME460

3. Fig. 2-1
Handout 2: ME460

4. Structural view (continued) - teach station - work cell interface
- program storage device
- power system (electrical, hydraulic, etc.)
- end-effector or tooling or gripper
Handout 2: ME460

5. Fig. 2-2 Mechanical arm 1. Body motion 2. wrist motion
Handout 2: ME460

6. Robot Classification
The classification is based on the body motion but not the wrist motion
Handout 2: ME460

7. (a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4)
Cartesian geometry:
(a) Gantry - type (Fig. 2-3)
(b) Cartesian (Fig. 2-4)
Spherical geometry (Fig. 2-5)
Cylindrical coordinate (Fig. 2-6)
Articulated geometry
(a) vertical (Fig. 2-7)
(b) horizontal (Fig. 2-8)
Handout 2: ME460

8. Fig. 2-3
Cartesian geometry: Gantry - type
Handout 2: ME460

9. Fig. 2-4
Cartesian geometry: Cartesian
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10. Fig. 2-5
Spherical geometry
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11. Cylindrical coordinate
Fig. 2-6
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12. Fig. 2-7
Articulated geometry: vertical
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13. Fig.2-8
Articulated geometry: horizontal
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14. Work space
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15. Robot Controller
Fig. 2-9
Handout 2: ME460

16. Fig. 2-10
Gripper
Handout 2: ME460

17. Summary
Robot definition from two perspectives: functional and structural.
Robot classification is based on body motion but not wrist motion.
Handout 2: ME460