- Practice · 4 marks
Industrial robots: configuration and applications
Write short notes on industrial robots: definition, basic configurations, degrees of freedom, end effectors and typical applications in manufacturing.
An industrial robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or devices through programmed motions for a variety of tasks.
Main parts
Manipulator (links and joints), actuators (electric servo, hydraulic or pneumatic), controller, sensors and the end effector.
Configurations
| Type | Axes | Work envelope | Use |
|---|---|---|---|
| Cartesian (gantry) | 3 linear | Box | Pick and place, CNC loading |
| Cylindrical | 2 linear + 1 rotary | Cylinder | Assembly, machine loading |
| Spherical (polar) | 1 linear + 2 rotary | Sphere section | Die casting, spot welding |
| Articulated (revolute) | 3 or more rotary | Roughly spherical, irregular | Welding, painting, assembly |
| SCARA | 2 rotary (vertical axes) + 1 vertical linear | Cylindrical, flat | Electronic assembly |
Degrees of freedom
Each independent joint motion is one degree of freedom (DOF). Three DOF position the wrist at any point in space, and three more (roll, pitch, yaw) orient the tool. A general-purpose robot therefore has six DOF.
End effectors
- Grippers: mechanical (jaw), vacuum cups, magnetic, adhesive.
- Tools: welding torch, spray gun, drill, grinder.
Applications
Material handling and palletising, machine loading and unloading, spot and arc welding, spray painting, assembly, inspection, and work in hazardous environments (forging, foundry). Advantages: repeatability, consistent quality, no fatigue, and safety. Limitations: high cost and the need for programming.
✓ Answer checked by Claude Opus 5.5 (high effort)
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