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Material Handling Systems
Published in Susmita Bandyopadhyay, Production and Operations Analysis, 2019
Each robot has its own unique characteristics. For example, Cartesian robot has three Cartesian axes of control as the name suggests; Selective Compliance Assembly Robot Arms (SCARA) robot is like a Cartesian robot with additional rotational motion; 6-axis robot has flexibility of three translations as well as three orientations; Redundant robot can give various postures; Dual arm robot has two arms to work on a job with both the arms simultaneously; Articulated robot can have two or more rotary joints; Cylindrical robot is in the form of a cylinder to do specific kinds of jobs; Polar robot uses polar coordinate system; Delta robot has a common delta shaped base. Besides, there is servo robot, non-servo robot, gantry robot. Based on the specific type of job done, the robots can be welding robot (for welding task), material handling robot (for material handling task), palletizing robot (for handling pallets), painting robot (for painting task), assembly robot (for assembly operation), inspection robot (for inspection job), packaging robot (for packaging task), and machining robot (for machining purpose).
Intelligent Industrial Robots
Published in Richard L. Shell, Ernest L. Hall, Handbook of Industrial Automation, 2000
Wanek Golnazarian, Ernest L. Hall
There are five major mechanical configurations commonly used for robots: cartesian, cylindrical, spherical, articulated, and selective compliance articulated robot for assembly (SCARA). Workplace coverage, particular reach, and collision avoidance, are important considerations the selection of a robot for an application. Table 2 provides a comparative analysis of the most commonly used robot configurations along with their percent of use. Details for each configuration are documented by Ty and Tien [20]. Figure 2 shows the arm geometries for the most commonly used robot configuration: (a) cartesian (PPP), (b) cylindrical (RPP), (c) articulated (RRR), (d) spherical (RRP), and (e) SCARA (RRP). However, there are other configurations used in either research or specialized applications.
Present State and Future Trends in Mechanical Systems Design for Robot Application
Published in Osita D. I. Nwokah, Yildirim Hurmuzlu, The Mechanical Systems Design Handbook, 2017
Martin Hägele, Rolf Dieter Schraft
The articulated robot arm, as the most common kinematic configuration, consists of at least three rotary joints by definition. High torque produced by the axes’ own weight and relatively long reach can be counterbalanced by weights or springs. Figure 28.12 displays a typical robot design.
A deep reinforcement learning-based optimization method for vibration suppression of articulated robots
Published in Engineering Optimization, 2023
Tie Zhang, Hubo Chu, Yanbiao Zou, Tao Liu
Articulated robots play a significant role in the industrial manufacturing field owing to their compact structure, wide working range and strong adaptability. However, the joint flexibility and coupling of articulated robots usually cause long-term vibration after movement, which seriously reduces positioning accuracy and work efficiency. As a feedforward method for suppressing residual vibration, input shaping technology (Singhose 2009) has attracted extensive attention and research. Early input shaping technology includes the zero-vibration (ZV) shaper (Singer and Seering 1990) and optimal arbitrary delay filter (Magee and Book 1998). Since the vibration-suppression effect of the above technology relies excessively on vibration mode accuracy, researchers have investigated a series of robust shapers, such as zero-vibration derivative (ZVD), zero-vibration derivative-derivative (ZVDD), extra-insensitive (EI), multi-bump EI and specified-insensitivity (SI) shapers (Vaughan, Yano, and Singhose 2008). However, the vibration mode of the articulated robot varies significantly with configuration, running speed and other factors. Simply improving the robustness of the shaper may fail to suppress the residual vibration effectively.