Classification on the Basis of Physical Configurations

On the basis of physical configuration industrial robots are classified into four different types. These are following as:

• Cartesian configuration,
• Polar configuration, and
• Cylindrical configuration,
• Jointed-arm configuration.

Cartesian Configuration

Robots having cartesian configurations consist of links associated by linear joints (L). As the configuration contains three perpendicular slides, they are also called as rectilinear robots. Robot with a similar configuration is known as Gantry Robots. Its structure resembles a gantry-type crane.

Cylindrical Configuration

In the cylindrical configuration, robots have one rotatory (R) joint at the base and linear (L) joints succeed to associate the links. The space in which this robot operates is cylindrical in shape, therefore the name cylindrical configuration.

Polar Configuration

Polar robots have a work space of spherical shape. Generally, the arm is linked to the base with a rotatory (R) and twisting (T) joint and or linear (L) joints. The designation of the arm for this arm might be TRL or TRR. Robots along with the description of TRL are also called as spherical robots. Those having the designation of TRR are known as articulated robots. It resembles a human arm in terms of configuration.

Jointed-Arm Configuration

The combination of cylindrical & articulated configurations is called as jointed-arm configuration. The arm of the robot is associated to the base with a twisting joint. Rotatory joints are utilized to connect the links in the arm. In general, the rotation takes place in the vertical plane. Popular robot falling under this category is called as SCARA (Selective Compliance Assembly Robot Arm). This is basically utilized for the assembly purpose.