Basic Structure of a Robot
A robot is a machine designed to perform tasks automatically and is made up of several core
components:
• Manipulator (Arm): The main body composed of segments (links) connected by
joints, like a human arm. This allows the robot to move and reach its workspace.
• End Effector: The tool at the end of the arm used to interact with the environment,
like a gripper, welder, or suction cup.
• Drive System: Powers the movement of joints and links, using electric, hydraulic, or
pneumatic systems.
• Sensors: Devices that allow the robot to sense position, force, or its surroundings.
• Controller: The robot's "brain" that processes information and controls movements
based on programmed instructions and sensor feedback.
Classification of Robots by Structure
Robots are classified by the way their arms (manipulators) move and are constructed. Here
are the main types:
1. Cartesian Robots
• Structure: Uses three linear axes (X, Y, and Z) that move at right angles to each other,
like the axes on a graph.
• Work Envelope: Rectangular or box-shaped.
• Uses: CNC machines, 3D printers, pick-and-place tasks.
• Advantages: Simple control, high accuracy, easy programming.
• Disadvantages: Bulky, takes up a lot of space.
2. Cylindrical Robots
• Structure: Has a rotary base and at least one prismatic (sliding) joint. Movements
combine a circular axis (rotation) and two linear axes (vertical and horizontal).
• Work Envelope: Cylindrical shape.
• Uses: Assembly, spot welding, machine tending.
• Advantages: Good for operations within cylindrical
spaces, requires less space than Cartesian robots.
• Disadvantages: Less accuracy, limited flexibility.
3. Spherical (Polar) Robots
• Structure: Features two rotary joints and one linear joint, allowing movement in a
spherical coordinate system.
• Work Envelope: Spherical or dome-shaped.
• Uses: Die casting, welding, material handling.
• Advantages: Can reach around obstacles,
suitable for central-point operations.
• Disadvantages: More complex control, limited precision compared to Cartesian.
4. Horizontal Articulated (SCARA) Robots
• Name: SCARA = Selective Compliance Assembly Robot Arm.
• Structure: Two parallel rotary joints provide compliance in the horizontal plane, with
a vertical motion.
• Work Envelope: Cylindrical.
• Uses: Assembly, especially in electronics, pick-and-place.
• Advantages: Fast for lateral movements, compact footprint, easy integration.
• Disadvantages: Less flexible than fully articulated robots, limited in heavy lifting.
5. Parallel Robots (Delta)
• Structure: Several arms (usually three) are connected to a single base, converging on
a tool platform.
• Work Envelope: Dome or bowl-shaped.
• Uses: High-speed pick-and-place, food, and electronics industries.
• Advantages: Extremely fast and precise for light tasks.
• Disadvantages: Limited to small, lightweight items, complex design
Mechanical Arm
• A mechanical arm is an automated, programmable device designed to move and
position tools or objects, mimicking human arm movement.
• It consists of segments connected by joints, providing reach and flexibility.
Degree of Freedom (DOF)
• The degree of freedom refers to the number of independent movements a robot arm
can perform.
• Each joint or axis adds a DOF — for example, a typical industrial arm may have 6 DOF
(movement up/down, left/right, forward/backward, wrist rotation, etc.).
• Higher DOF allows more complex and flexible movements.
Links and Joints
• Links: The rigid sections or “bones” in the arm connecting the joints, providing
structure and reach.
• Joints: The pivoting or sliding connections between links. Types include rotary
(revolute) and linear (prismatic) joints.
• The arrangement and number of links and joints define the overall range and
flexibility of the robot arm.
Wrist Rotation
• The wrist is the part of the robot arm closest to the end effector (tool).
• Wrist rotation adds more freedom, allowing the end tool to orient in various
directions.
• Many robot wrists have multiple axes to allow advanced manipulation, such as
twisting or turning the gripper.
Mechanical Transmission: Pulleys, Belts, Gears, Harmonic Drive
• Pulleys and Belts: Used for transmitting rotary motion between shafts (like a bike
chain), often reducing vibration and noise.
• Gears: Provide precise control over motion, increase torque, or change speed;
essential for powerful, accurate movements.
• Harmonic Drive (Gearbox): A specialized high-precision gearbox that offers large
reduction ratios in compact size, common in robot joints for accuracy and
repeatability.
