This document discusses the components and classification of robots. It describes the major components that make up industrial robots: controllers, manipulators, actuators, end-effectors, and sensors. It then explains the six main types of robot classification: Cartesian, cylindrical, spherical, SCARA, articulated, and parallel robots. Each classification is defined by the orientation and movement of its axes. The document provides examples of common uses for each robot type.

1. CHAPTER 2:
COMPONENTS & CLASSIFICATION OF ROBOTS
AUTOMATION

2. Learning Outcomes:
Upon completion this chapter, student should be
able:-
1. Explain the common major components of
industrial robot automation
2. Explain classification of robots automation

3. Contents
1. Common major components of industrial robot
automation
2. Classification of robots automation

4. Components of Industrial Robot
Automation
 Controller
 Manipulator
 Actuator
 End Effector
 Sensor

5. Controller
 Connected to a computer
 Controller function as the brain of the robot
 Controller also allows the robot to be networked to
other systems.
 Robot have controller that are run by programme set of
instruction written in code.

7. Manipulator
 Robot arm come in all shapes and size
 The arm is the part of the robot that positions the end-effector
and sensors
 Many resemble human arm and have shoulder, elbow,
wrist, even fingers
 A simple robot arm with 3 degrees of freedom could
move 3 way; up and down, left and right, forward and
backward.

9. Actuator
 actuator is a mechanism used to drive the processor to
allow it to move to a predetermined point.
 consists of components such as pneumatic and
hydraulic cylinders, pneumatic and hydraulic rotary
motor, and the electric motor.
 robot position also depends on the combination of
these components.
 The robot has a simple movement is driven by a
mechanical system that uses a cam.

11. End -Effector
 Connected to the robot arm.
 It could be a tool such as a gripper, a vacuum pump,
hook, scoop and etc.
 Some robots can change end-effectors and be
programmed for a different task.
 If robot has more than one arm, there can be more
than one end-effector on the same robot.

13. Sensor
 Sensor can provide feedback to the control systems
and give the robots more flexibility
 Sensor such as visual sensor are useful in the building
of more accurate and intelligent robots
 Sensor can be classified as follows:
 Position sensor
 Range sensor
 Velocity sensor
 Proximity sensor

15. Classification Of Robots
Automation
There are 6 types of robot :
 Cartesian/Gantry Robot
 Cylindrical Robot
 Spherical/Polar Robot
 SCARA Robot
 Articulated Robot
 Parallel Robot

16. Cartesian Robot
 It used for pick and place work, application of sealant,
assembly operation, handling machine tools and arc
welding
 This arm robot has three prismatic joints, whose axes
are coincident with a Cartesian coordinator
 X =horizontal, left and right motions
 Y = vertical, up and down motions
 Z = horizontal, forward and backward motions

18. Cylindrical Robot
 It used for assembly operations, handling at machine
tools, spot welding and handling at die-casting
machines
 This robot axes form a cylindrical coordinate system
 X = horizontal rotation of 360°, left and right motions
 Y = vertical, up and down motions
 Z = horizontal, forward and backward motions

20. Spherical/Polar Robot
 Used for handling at machine tools, spot welding, die-casting,
fettling machines, gas welding and arc
welding.
 Robot axes form a polar coordinate system.
 X = horizontal rotation of 360°, left and right motions
 Y = vertical rotation of 270°, up and down motions
 Z = horizontal, forward and backward motions

22. SCARA Robot
 SCARA (Selective Compliant Assembly Robot Arm)
 Used for pick and place work, application of sealant,
assembly operations and handling machine tools
 This robot has 2 parallel rotary joints to provide
compliance in a plane

24. Articulated Robot
 Used for assembly operations, die-casting, fettling
machines, gas welding, arc welding and spray painting
 This robot arm has at least 3 rotary joints
 X = horizontal rotation of 360° left and right motions
 Y = vertical rotation of 270°, up and down motions
 Z = horizontal & vertical rotation of 90° to 180°, forward
and backward motions

26. Parallel Robot
 This robot is used for mobile platform handling
cockpit flight simulators
 This robot arm has concurrent prismatic or rotary
joints

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