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Cartesian manipulators are driven by mutually perpendicular linear actuators. They generally have a one-to-one correspondence between the linear positions of the actuators and the X, Y, Z position coordinates of the moving platform, making them easy to control. Furthermore, Cartesian manipulators do not change the orientation of the moving ...
A Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. [1] The three sliding joints correspond to moving the wrist up-down, in-out, back-forth. Among other advantages, this ...
The Canadarm while deploying a payload from the cargo bay of the Space Shuttle. A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot.
The major components of arc welding robots are the manipulator or the mechanical unit and the controller, which acts as the robot's "brain". The manipulator is what makes the robot move, and the design of these systems can be categorized into several common types, such as SCARA and cartesian coordinate robot, which use different coordinate ...
Cartesian robots, [5] also called rectilinear, gantry robots, and x-y-z robots [6] have three prismatic joints for the movement of the tool and three rotary joints for its orientation in space. To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom).
The Denavit and Hartenberg notation gives a standard (distal) methodology to write the kinematic equations of a manipulator. This is especially useful for serial manipulators where a matrix is used to represent the pose (position and orientation) of one body with respect to another.
Sankyo Seiki, Pentel and NEC presented the SCARA robot as a completely new concept for assembly robots in 1981. The robot was developed under the guidance of Hiroshi Makino, [4] a professor at the University of Yamanashi. [2] Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes. [5] [6]
Delta robot kinematics (green arms are fixed length, at 90° to their blue axis that they rotate about) Over-actuated planar delta robot. The delta robot is a parallel robot, i.e. it consists of multiple kinematic chains connecting the base with the end-effector. The robot can also be seen as a spatial generalisation of a four-bar linkage. [9]