GTU
Basic Configurations of ROBOT
❑ Work envelope or work volume of a robot can be defined as the space within the end
effector of the robot can operate or reach.
❑ Based on the coordinate system of motion of the manipulator and end effector, there are
four basic configurations of robots:
1) Cartesian Configuration Robots (LOO)
2) Cylindrical Configuration Robots (TLO)
3) Polar (Spherical) Configuration Robots (TRL)
4) Jointed-Arm (Articulated) Configuration Robots
1) Revolute Robots (TRR)
2) SCARA Robots (VRO)
GTU
Basic Configurations of ROBOT
Cartesian Configuration Robots: (LOO)
▪ Provides three linear motions along three mutually perpendicular axes: X, Y, and Z. However, there is no rotary motion.
▪ Configuration provides rectangular work envelope.
▪ Used for assembly, palletizing and machine tool loading.
O
L
O
GTU
Basic Configurations of ROBOT
Cylindrical Configuration Robots: (TLO)
▪ Provides two linear and one rotary motions.
▪ Configuration provides cylindrical work envelope, has good work area to floor area ratio.
▪ Used for loading and unloading on machine tools.
T
GTU
Basic Configurations of ROBOT
Polar (Spherical) Configuration Robots: (TRL)
▪ Provides one linear and two rotary motions.
▪ Configuration provides spherical work envelope.
▪ Used for spot welding and manipulation (Handling) of heavy loads.
GTU
Basic Configurations of ROBOT
Revolute Robots: (TRR)
▪ Provides three rotary motions about three mutually perpendicular axes.
▪ Configuration is similar to that of human arm.
▪ Consists of two straight links, corresponding to the human forearm and upper arm, connected by a rotary joint.
▪ Provides spherical work envelope, has excellent work areas to floor area ratio.
▪ Used to spray painting, seam welding, spot welding, assembly, heavy material handling, etc.
GTU
Basic Configurations of ROBOT
SCARA (Selective Compliance Assembly Arm) Robots: (VRO)
▪ Provides one linear and two rotary motions.
▪ Provides cylindrical work envelope with high speed drive motors.
▪ Used for assembly operations.
SCARA ROBOT
Basic Configurations of ROBOT
Cylindrical: TLO
Cartesian: LOO Spherical (Polar): TRL
Revolute: TRR SCARA: VRO
Basic Configurations of ROBOT
Basic Configurations of ROBOT
Configurations Manipulator Motions Work Envelope Application
Cartesian LOO 3 Linear Rectangular Assembly, Palletizing Machine Tool Loading
2 Linear ,
Cylindrical TLO Cylindrical Loading & Unloading on Machine Tools
1 Rotary
1 Linear ,
Spherical (Polar) TRL Spherical Spot Welding , Handling of Heavy Loads.
2 Rotary
Spray Painting, Seam Welding, Spot Welding,
Revolute TRR 3 Rotary Spherical
Assembly, Heavy Material Handling
1 Linear,
SCARA VRO Cylindrical Assembly Operations
2 Rotary
L = Linear; O = Orthogonal; R = Rotational; T = Twisting; V = Revolving
Basic Configurations of ROBOT
Basic Configurations of ROBOT
