Explain various Robot configurations with neat sketch.

Explain various Robot configurations with neat sketch. 
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Answer :

Different Robot Configurations: Robots are being classified on the basis of their physical configuration and control systems adopted. These classifications are briefly described as below:

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[1] Cartesian Configuration: Robots having Cartesian configurations consist of links connected by linear joints (L). As the configuration has three perpendicular slides, they are also called rectilinear robots. Robot having a similar configuration is known as Gantry Robots. Its structure resembles a gantry type crane.

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[2] Cylindrical Configuration:

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

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[3] Polar (Spherical) Configuration Polar robots have a work space of spherical shape. In general, the arm is linked to the base with a twisting (T) joint and rotatory (R) and or linear (L) joints. The designation of the arm for this arm can be TRL or TRR. Robots with the description of TRL are also called spherical robots.

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[4] Jointed Arm Configuration: The combination of cylindrical and articulated configurations is known as jointed arm configuration. The arm of the robot is connected to the base with a twisting joint. Rotatory joints are used to connect the links in the arm. Generally, the rotation takes place in the vertical plane. Popular robot falling under this category is called SCARA (Selective Compliance Assembly Robot Arm). Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks. It is basically used for the assembly purpose.

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