Introduction to Industrial

Automation
- ETIA 31413 -
Faculty of Computing and
Technology

M r. M . M . S h e ya n U d aya n ga S i l va
B.ET(Hon.s) Specialization in Industrial Automation and Robotics
Te m p o r a r y L e c t u r e r
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Working Envelope / Space
Definition:
• Working Envelope – Region of space a robot can
encompass
• Working Space – The region in space a robot can fully
interact with
• Work envelope Depends on,
• Range of Joints
• Size of Robot
• Type of Joints

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Working Envelope / Space
Definition:

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Types of Robot Manipulators
Physical Configuration :

• Cartesian configuration
• Cylindrical configuration
• Polar configuration
• SCARA configuration
• Joint-arm configuration

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Types of Robot Manipulators
Cartesian configuration:

• Consists of links connected by linear joints (usually by 3

joints) (L) or (P) . Gantry robots are Cartesian robots
(LLL) or (PPP)

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Types of Robot Manipulators
Cartesian configuration:

• Working envelope

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Types of Robot Manipulators
Cartesian configuration:

• Applications
• Pick and place work
• Handling machine tools
• Assembly operations
• Welding operations

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Types of Robot Manipulators
Cartesian configuration:

• Advantages
• Ability to do straight line insertions.
• Ease of computation and programming
• Most rigid structure for given length

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Types of Robot Manipulators
Cartesian configuration:

• Disadvantages
• Requires a large operating volume
• Can only reach front of itself
• Axes hard to seal
• Exposed guiding surfaces require covering in corrosive or
dusty environments

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Types of Robot Manipulators
Cylindrical Configuration :

• Consists of one rotary ( R) joint at the base and linear (L)

joints succeeded to connect the links

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Types of Robot Manipulators
Cylindrical Configuration :

• Working envelope

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Types of Robot Manipulators
Cylindrical Configuration :

• Application
• Assembly operations
• Spot welding operations
• Handling at die-casting machines
• Handling machine tools

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Types of Robot Manipulators
Cylindrical Configuration :

• Advantages
• Can reach all around itself
• Relatively easy programming
• Rotational axis easy to seal
• Good access into cavities and machine openings
• Rigid enough to handle heavy loads through large working
space

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Types of Robot Manipulators
Cylindrical Configuration :

• Disadvantages
• Can not reach above itself
• Can not reach around obstacles
• Linear axes is hard to seal
• Exposed drives are difficult to cover from dust and liquids

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Types of Robot Manipulators
Polar Configuration – Spherical Robot:

• A robot with 1 prismatic joint and 2 rotary joints –the

axes consistent with a polar coordinate system

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Types of Robot Manipulators
Polar Configuration – Spherical Robot:

• Applications
• Arc/spot welding
• Handling machine tools
• Handling at die casting or fettling machines

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Types of Robot Manipulators
Polar Configuration – Spherical Robot:

• Advantages
• Large working envelope
• Handling two rotary drives are easily sealed against
liquids/dust
• Disadvantages
• Exposed linear drive
• Low accuracy
• Complex coordinates more difficult to visualize, control, and
program
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Types of Robot Manipulators
Polar Configuration – Spherical Robot:

• Working envelope

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Types of Robot Manipulators
Polar Configuration – Articulated Robot:

• A robot with at least 3 rotary joints.

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Types of Robot Manipulators
Polar Configuration – Articulated Robot:

• Working envelope

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Types of Robot Manipulators
Polar Configuration – Articulated Robot:

• Applications
• Assembly operations
• Spray painting
• Welding operations
• Handling at die casting or fettling machines

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Types of Robot Manipulators
Polar Configuration – Articulated Robot:

• Advantages
• Assembly all rotary joints allows for maximum flexibility
• Any point in total volume can be reached
• All joints can be sealed from the environment
• Disadvantages
• Extremely difficult to visualize, control, and program
• Low accuracy
• Restricted volume coverage
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Types of Robot Manipulators
SCARA Configuration:

• Selective Compliance Articulated Robot Arm.

• A robot with at least 2 parallel rotary joints.

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Types of Robot Manipulators
SCARA Configuration:

• Working envelope.

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Types of Robot Manipulators
SCARA Configuration:

• Application
• Pick and place operations
• Assembly operations

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Types of Robot Manipulators
SCARA Configuration:

• Advantages
• High speed
• Large work area for floor space
• Height axis is rigid
• Moderately easy to program

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Types of Robot Manipulators
SCARA Configuration:

• Disadvantages
• Two ways to reach a point
• Difficult to program off-line
• Limited applications
• Highly complex arm

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Types of Robot Manipulators
Joint Arm Configuration :
• A combination of cylindrical and articulated
configurations
• The arm of the robot is connected to the base with a
twisting joint
• The links in the arm are connected by rotary joints

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Types of Robot Manipulators
Joint Arm Configuration :

• Working envelope

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