Cylindrical robot: manipulator which has at least one rotary joint and at least one prismatic joint, whose axes form a cylindrical coordinate system.Parallel/Delta robot: manipulator whose arms have links which form a closed loop structure.Articulated robot: manipulator which has three or more rotary joints.SCARA robot: manipulator which has two parallel rotary joints to provide compliance in a selected plane.Cartesian robot (rectangular robot, gantry robot): manipulator which has three prismatic joints, whose axes form a Cartesian coordinate system.Industrial robots can be classified according to mechanical structure: Axis: direction used to spec ify the robot motion in a linear or rotary mode.Manipulator: mechanism consisting of an arrangement of segments, jointed or sliding relative to one another. Multipurpose: capable of being adapted to a different application with physical alteration.Reprogrammable: designed so that the programmed motions or auxiliary functions can be changed without physical alteration (alteration of the mechanical system).The IFR’s use of the term “ industrial robot” is based on the definition of the International Organization for Standardization: an “ automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or fixed to a mobile platform for use in automation applications in an industrial environment".
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