Classification of Robots
Classification of robots
I. Based on the type of drive technology employed
II. Based on the Work Envelope/WSE/Work
Volume/Work space
III. Based on the type of motion control
IV. Based on the type of function
V. Based on intelligence
What is an actuator in robotics?
A mechanical device for actively moving or driving
something.
Actuators are device use to furnish power to the robot
joints for the movement of the robot.
Actuators are the source of power.
Input to the actuator is electrical/hydraulic or
pneumatic and the output is always mechanical: either
linear or rotary.
The actuator cannot alone move the robot it needs to
be driven by a drive.
Drive
Driver Actuator
Computer controller (motor/piston) Robot
interface
Acts as a interface between the computer and the
robot.
The output of the computer is TTL logic and the
actuators are of amperes rating hence the small voltage
is not sufficient to move the actuator.
Therefore drive is essential to guide and control the
joints of a robot in particular position
Electric
Robots
All robots use electricity as the primary source of energy.
It also powers the robot controller and all the electronic components
and peripheral devices.
In all electric robots, the drive actuators, as well as the controller, are
electrically powered.
Because electric robot do not require a hydraulic power unit, they
conserve floor space and decrease factory noise.
No energy conversion is required.
Compared with a hydraulic system, an electric system provides a robot
with less speed and strength.
Electric drive systems are adopted for smaller robots. However, robots
supported by electric drive systems are more accurate, exhibit better
repeatability, and are cleaner to use.
Various types of electric motors such as A.C./D.C. servomotors and
stepper motors are used.
Applications tend toward more precise work such as assembly.
Hydraulic Robots
Hydraulic drive provides a large amount of power for a given actuator.
The high power-to-weight ratio makes the hydraulic actuator an
attractive choice for moving moderate to high loads at reasonable
speeds and moderate noise level.
Hydraulic motors usually provide a more efficient way of energy to
achieve a better performance, but they are expensive and generally
less accurate.
Hydraulic robots used in places where heavy load is lifted as in molten
steel industry, construction sites etc.
Typical hydraulic drive systems consists of oil reservoir, oil filter,
hydraulic pump, pressure indicator, pressure valves, hydraulic rams
and pistons, levers
Pneumatic Robots
Particular Category of robots which are operated from compressed air and
they are nothing but air activated tools.
These are generally found in relatively low-cost manipulators with low
load carrying capacity
Robots use pneumatic to control the grippers.
It is inherently light weight, particularly when operating pressures are
moderate.
Used in robotic to power handle the tools and to lift and clamp the
products during the machining operations.
They use
Compressor with a tank to store compressed air
An engine or motor to drive it
Filters to remove air borne particles like dirt
Condensation trap to remove out moisture
Pressure valves to maintain pressure in valves, connectors and pistons
Based on the Work Envelope/WSE/Work
Volume/Work space
The work space or work volume or work area is defined
as the area in which the robot can do useful work.
Arm movement
Robot must be able to reach a point in space within three axes by moving
forward and backward, to the left and right, and up and down.
Robot manipulator may be classified according to the type of movement
needed to complete the task.
Rectangular-coordinated:
- Has three linear axes of motion.
- X represents left and right motion
- Y describes forward and backward motion.
- Z is used to depict up-and-down motion.
The work envelope of a rectangular robot is a cube or rectangle, so that
any work performed by robot must only involve motions inside the space.
RECTANGULAR COORDINATED
Advantages:
They can obtain large work envelope because travelling along the x-
axis, the volume region can be increased easily.
Their linear movement allows for simpler controls.
They have high degree of mechanical rigidity, accuracy, and
repeatability due o their structure.
They can carry heavy loads because the weight-lifting capacity does not
vary at different locations within the work envelope.
Disadvantages:
They makes maintenance more difficult for some models with
overhead drive mechanisms and control equipment.
Access to the volume region by overhead crane or other material-
handling equipment may be impaired by the robot-supporting
structure.
Their movement is limited to one direction at a time.
CYLINDRICAL-COORDINATED
Has two linear motions and one rotary motion.
Robots can achieve variable motion.
The first coordinate describe the angle theta of base
rotation--- about the up-down axis.
The second coordinate again corresponds to the up-down z
position.
The final coordinate correspond to a radical or y--- in out
motion at whatever angle the robot is positioned.
Rotational ability gives the advantage of moving rapidly to
the point in z plane of rotation.
Results in a larger work envelope than a rectangular robot
manipulator.
Advantage:
Their vertical structure conserves floor space.
Their deep horizontal reach is useful for far-reaching
operations.
Their capacity is capable of carrying large payloads.
Disadvantage:
Their overall mechanical rigidity is lower than that of
the rectilinear robots because their rotary axis must
overcome inertia.
Their repeatability and accuracy are also lower in the
direction of rotary motion.
Their configuration requires a more sophisticated
control system than the rectangular robots.
SPHERICAL COORDINATED
Has one linear motion and two rotary motions.
The work volume is like a section of sphere.
The first motion corresponds to a base rotation about a
vertical axis.
The second motion corresponds to an elbow rotation.
The third motion corresponds to a radial, or in-out,
translation.
A spherical-coordinated robots provides a larger work
envelope than the rectilinear or cylindrical robot.
Design gives weight lifting capabilities.
Advantages and disadvantages same as cylindrical-
coordinated design.
SCARA Robot
Notation VRO/RRP
SCARA stands for Selectively
Compliant Assembly Robot
Arm
Similar to cylindrical except
that vertical axes are used for
shoulder and elbow joints
hence the arm is very rigid in
the vertical direction, but
compliant in the horizontal
direction so the name selective
compliance.
SCARA
Shape of workspace envelope is a complex cylinder i.e.
cylinder within a cylinder.
Commonly used for assembly operations.
Jointed arm
Based on the type of motion control
Pick and place (PNP) robots
Point to point (PTP) robots
Continuous path (CP) robots
Pick and place (PNP) robots
PNP robots picks up objects from one place and keeps
it at another location.
User specifies the pick (source) and place
(destination) location.
The path for the movement can be specified by the
user or robot can find its own path.
Point to point (PTP) robots
Allows user to specify discrete set of points (known as
the knot points) between which the robot is to move.
Once the discrete points are specified the robots
moves through this point using some robotic
manipulation.
The path for the movement of the robot between two
discrete points or via number of discrete points is
obtained by interpolation.
Continuous path (CP) robots
Also called as controlled path motion.
Allows user to specify the path along which the robot
should move.
Once path is specified the robot moves continuously
along the specified path hence the name continuous
path.
Based on the type of function
Manual manipulator
Fixed sequence robots
Variable sequence robots
Playback robots
Numerically controlled robot
Tele-operational robots
Based on Intelligence
The intelligent control robot is capable of performing some of the
functions and tasks carried out by human beings.
It can detect changes in the work environment by means of sensory
perception.
Intelligent robot is equipped with a variety of sensors and sensor
apparatus providing visual (computer vision) and tactile (touching)
capabilities to respond instantly to variable situations.
Much like humans, the robot observes and evaluates the immediate
environment by perception and pattern recognition.
Because its operation is so complex, powerful computers are required
to control its movements and more- sophisticated sensing devices to
respond to its actions.
Extensive research has been and still concerned with how to equip
robots with seeing “eyes” and tactile “fingers”.
Artificial intelligence (ai) that will enable the robots to respond, adapt,
reason, and make decisions to react to change is also an inherent
capability of the intelligent robot.
Based on Intelligence
First generation
Second generation
Third generation
Fourth generation
