By Moshe Shoham (auth.)
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Extra resources for A Textbook of Robotics 2: Structure, Control and Operation
14: A Cartesian robot manufactured by the Thermwood Corporation 29 Structure, Control and Operation Cylindrical Robots A cylindrical robot possesses one rotary and two linear degrees of freedom. Using the designations explained in the preceding section, this type of robot is designated RPP. The axes of motion of cylindrical ro hots are shown in Figures 2-15 and 2-16. 16: A cylindrical robot manufactured by Prab Examination of the three degrees of freedom closest to the robot base will prove the cylindrical nature of the robot shown in Figure 2-16.
Comparing the theoretical work envelope of this type of robot with the actual work volume as given by the manufacturer, we note considerable differences. In addition, it must be remembered that, even within the actual work volume, not all points can be reached with the desired orientation. In fact, some of them - the extremes of the envelope - are accessible from only one angle (that at which the end effector constitutes a rectilinear extension of the arm itself). Advantages and Disadvantages of Various Kinematic Structures: Summary Comparing the various kinematic structures in the above sections results in the following conclusions: * * * Cartesian robots can provide the highest level of mechanical rigidity, and are therefore to be preferred in high-precision applications.
It is true that the moments (forces) exerted on the motors of Cartesian robots carrying defined loads at constant rates of speed remain unchanged at all points of the work envelope. However, this is not the case with other types of robots. For example, let us compute the moment required to lift a given load at a constant velocity, by means of the spherical robot shown in Figure 2-27A. 81m/sec 2 = gravity L = distance ~ = mass of the ann; constant; between the gripper and the axis of rotation of the joint; of the load.