By Moshe Shoham (auth.)
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Additional resources for A Textbook of Robotics 2: Structure, Control and Operation
Cartesian robot work volume is shown in Figure 2-28. Cylindrical Robot Work Volume The cylindrical robot executes one rotary motion and two linear motions. Figure 2-29 shows the motions and work volume of a cylindrical robot. The work volume of this type of robot is a hollow cylinder (as shown in Figure 2-29). The formula for this work volume is as follows: The values represented in this formula are: VCYL = cylindrical robot work volume; = linear displacement of joint I (height of the cylinder) • = linear displacement of joint 2 (a quantity which, when added to L, 48 denotes the The mechanical arm radius of the outer volume accessible to the end effector); L = radius of the internal volume not accessible to the end effector.
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.
All revolute joints can rotate 3600. 28: The work volume of a Cartesian robot 47 Structure, Control and Operation Cartesian Robot Work Volume The Cartesian robot executes three linear motions on three perpendicular axes. Therefore, if the end effector is attached to the far end of the third link (in this and the following sections, we will consider only three-link robots), it will move within a rectangular "box" (parallelepiped) whose edges are equal in length to the extent of motion along each of the three axes.