{ "cells": [ { "cell_type": "markdown", "id": "0cc40fa8-69f3-4541-a7ff-42430bdac541", "metadata": {}, "source": [ "# 5 Classification of Robots-I\n", "October 15, 2024\n", "\n", "In the previous article, the history and evolution of robots and robotics were discussed. You can go and read it by clicking here.\n", "Classification of robots is done on the basis of different criteria. This is done to understand the robots efficiently and help people to select the desired robot for the functionality and applications. In this classification of robot, a detailed explanation for all existing types of classification of robots are depicted. These criteria are not exhaustive and may include more types or criteria. This article focusses on the criteria of shape of robots. You can visit the previous articles here for understanding the basics and history of robots and robotics.\n", "\n", " \n", "\n", "## 5.1 Based on Mechanical Configuration or Shape:\n", " \n", "\n", "It is based on the physical shape or structure of a robot i.e., arrangements of links and joints of the robot.\n", "\n", " \n", "\n", "### 5.1.1 Cartesian or Gantry Robot\n", " \n", "\n", "Independent linear motion along X, Y and Z cartesian coordinate axes using three prismatic joints for positioning of the end-effector. It is also named as rectangular system due to cuboidal work envelope. You can click here to visualize the motion of the Gantry system.\n", "Applications: Used in high precise tasks like machining, assembly, pick-and-place operations. Also used in CNC and 3D printing machines.
\n", "\n", "```{figure} _static/Gantry_Robot.png\n", ":alt: Robota5.1 robot design\n", ":width: 300px\n", "\n", "Gantry Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "54181fc2-78de-4284-be69-41cc2487dd34", "metadata": {}, "source": [ "### 5.1.2 Cylindrical Robot\n", " \n", "\n", "Consists of two prismatic joints which are either collinear or orthogonal and one rotary or revolute joint to move the end-effector in a cylindrical work envelope.\n", "Applications: Used in assembly operations, material handling welding, etc. The motion of the cylindrical robot can be seen in this video.\n", "\n", "```{figure} _static/Cylindrical_Robot.png\n", ":alt: Robota5.2 robot design\n", ":width: 300px\n", "\n", "Cylindrical Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "6c7d880d-93e9-4c3f-b876-5888f96ba5d5", "metadata": {}, "source": [ "### 5.1.3 Spherical Robot\n", " \n", "\n", "It consists of a combination of rotational joints and prismatic joints to actuate the end-effector in a spherical work envelope.\n", "Applications: Often used in tasks requiring a large work volume like welding, painting and handling operations. Here you can get the overview of the motion of this spherical robot.\n", "\n", "```{figure} _static/Spherical_Robot.png\n", ":alt: Robota5.3 robot design\n", ":width: 300px\n", "\n", "Spherical Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "9f8505fe-2243-40a2-8a5a-13a9a5558735", "metadata": {}, "source": [ "### 5.1.4 SCARA (Selective Compliance Assembly/Articulated Robot Arm)\n", " \n", "\n", "It resembles a human arm consisting of multiple rotary joints whose axes are parallel so that it can have manipulation or articulation of the end-effector along a horizontal plane. It may also have a single prismatic joint for the vertical motion of the end-effector. The SCARA robot movements are recorded and can be accessed in this video.\n", "Applications: As the name suggests, it is used in assembly operations along with pick-and-place, material handling, painting and packaging tasks.\n", "\n", "```{figure} _static/SCARA_Robot1.png\n", ":alt: Robota5.4 robot design\n", ":width: 300px\n", "\n", "SCARA Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "01c6415b-0cac-456a-aa7c-cee536b9f349", "metadata": {}, "source": [ "### 5.1.5 Delta or Parallel Robot\n", " \n", "\n", "Spider-like structure having multiple parallel arms connected to a common base with multiple DOF usually used in high-speed and precision operations.\n", "Applications: Used in high-speed packaging, pick-and-place, sorting tasks in industries like food packaging and electronics assembly. You can visit here for motion of this delta robot.\n", "\n", "```{figure} _static/Delta_Robot.png\n", ":alt: Robota5.5 robot design\n", ":width: 300px\n", "\n", "Delta or Parallel Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "05b1ef28-df7c-4034-b2ba-161234462e21", "metadata": {}, "source": [ "### 5.1.6 Humanoid Robot\n", " \n", "\n", "It consists of arms, legs, sometimes a torso and head, mimicking human anatomy and actuated by articulated joints, typically with more than 10 degrees of freedom (DOF), allowing for complex, human-like movements. Examples include ASIMO by Honda, ATLAS by Boston Dynamics.\n", "Applications: Used for research, personal assistance and interaction, service robotics.\n", "\n", "```{figure} _static/Humanoid_robot.jpg\n", ":alt: Robota5.6 robot design\n", ":width: 300px\n", "\n", "Humanoid Robot (Source: Freepik)" ] }, { "cell_type": "markdown", "id": "2733cc35-3b1b-47b7-b753-6de34dfadb54", "metadata": {}, "source": [ "## 5.2 Based on Degrees of Freedom:\n", " \n", "\n", "It is based on the degrees of freedom (DOF) of the robot, which refers to the number of independent ranges of complex and flexible motion the robot can perform due to its multiple joints.\n", "\n", " \n", "\n", "### 5.2.1 Two Degrees of Freedom Robot\n", " \n", "\n", "A simple robot with limited movement along two Cartesian axes, typically operating in a plane\n", "Applications: Basic pick-and-place tasks.\n", "\n", "```{figure} _static/2DOF_Robot.jpg\n", ":alt: Robota5.7 robot design\n", ":width: 300px\n", "\n", "2 DOF Robot (Source: Freepik)" ] }, { "cell_type": "markdown", "id": "c14d265a-c59e-4e32-8922-fa47f799734b", "metadata": {}, "source": [ "### 5.2.2 Three Degrees of Freedom Robot\n", " \n", "\n", "Robot that can have motion in three-dimensional cartesian space.\n", "Applications: Used in Cartesian robots in CNC machines.\n", "\n", "```{figure} _static/3DOF_Robot1.png\n", ":alt: Robota5.8 robot design\n", ":width: 300px\n", "\n", "3 DOF Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "ca181ed3-a69a-44b8-8724-4c97660f4e42", "metadata": {}, "source": [ "### 5.2.3 Six Degrees of Freedom Robot\n", " \n", "\n", "Highly flexible robot capable of complex manipulation of objects in multiple directions.\n", "Applications: Used for welding, painting, assembly operations as well as precision surgery.\n", "\n", "```{figure} _static/6DOF_Robot.png\n", ":alt: Robota5.9 robot design\n", ":width: 300px\n", "\n", "6 DOF Robot (Source: image by Author)" ] }, { "cell_type": "markdown", "id": "2cd40189-eb45-4daf-832b-2ee6069c7406", "metadata": {}, "source": [ "### 5.2.4 Redundant Robot\n", " \n", "\n", "A robot with more degrees of freedom (DOF ≥ 6) than are strictly required for a task, allowing flexibility to optimize motion trajectories and avoid obstacles.\n", "Applications: Used for complex operations requiring high maneuverability and flexibility, such as intricate assembly or manipulation in tight, constrained spaces, as well as in welding and painting operations.\n", "\n", "```{figure} _static/Redundant_Robot.png\n", ":alt: Robota5.10 robot design\n", ":width: 300px\n", "\n", "Redundant Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "3cf38b55-3200-42f9-809c-9be81d4a1440", "metadata": {}, "source": [ "### 5.2.5 Hyper-Redundant Robot\n", " \n", "\n", "Highly flexible and dynamic robot with multiple small segments each having their own degrees of freedom which allow it to navigate through difficult and complex environments such as thin or zigzag trajectories.\n", "Applications: Used in snake robots to help in inspection of pipeline, search-and-rescue in disaster recovery operations and medical robots for minimally invasive or intricate surgeries.\n", "\n", "```{figure} _static/Hyper_Redundant_Robot.png\n", ":alt: Robota5.11 robot design\n", ":width: 300px\n", "\n", "Hyper-Redundant Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "c929d44b-2f1e-4345-9706-ca3c6235ae16", "metadata": {}, "source": [ "## 5.3 Based on Kinematics\n", " \n", "\n", "This classification criterion is based on the motion mechanics of the robot.\n", "\n", " \n", "\n", "### 5.3.1 Serial Robot\n", " \n", "\n", "In this robot, the joints having single DOF are connected in a series or a kinematic chain.\n", "Applications: Used in robotic arms for complex and flexible manipulation tasks.\n", "\n", "All figures shown in section 5.2 are serial robots.\n", "\n", " \n", "\n", "### 5.3.2 Parallel Robot\n", " \n", "\n", "The end-effector and base of the robot is connected by multiple independent kinematic chains for high speed and precision.\n", "\n", "Applications: Used mainly in pick-and-place task and flight simulators.\n", "\n", " \n", "\n", "### 5.3.3 Hybrid Robot\n", " \n", "\n", "Bringing together the benefits of both serial and parallel robots, elements of both these robots are combined so that it can be used in specialized tasks requiring flexibility and precision.\n", "Applications: Used mostly in CNC machining.\n", "\n", "```{figure} _static/Hybrid_Robot.png\n", ":alt: Robota5.12 robot design\n", ":width: 300px\n", "\n", "Hybrid Robot (Source: Image by Author)" ] }, { "cell_type": "markdown", "id": "ff08a604-72a2-454c-87f2-361d1aa4a2b3", "metadata": {}, "source": [ "In the following chapter we will discuss about the classification of robots-II and some other criterias." ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { 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