Serial robot classification Flashcards
1
Q
Definion of serial robot.
A
Is a particular type of robot that has only one kinematic chain that goes from the frame to the flange.
2
Q
Definition of parallel robot.
A
More than one kinematic chain from frame to flange.
3
Q
Serial robot structure.
A
1 kinematic chain that goes from the frame to the end-effector.
- Arm -> position
- Wrist (“polso”) -> orientation
- End-effector -> interaction
4
Q
Cartesian and Gantry arm.
A
Bb
5
Q
Cylindric arm.
A
Ab
6
Q
Spherical or Polar arm.
A
Ac
7
Q
SCARA arm.
A
Ba or aB
8
Q
Articulated arm.
A
Aa
9
Q
Types of wirst.
A
- 1 dof
- 3 dof
10
Q
What is the flange of the robot?
A
Is the final part of the kinematic chain where the tool (aka end-effector) will be attached.
11
Q
SCARA robot.
A
aB + 1 DoF wirst.
12
Q
Palletizing robot.
A
Articulated arm + 1 DoF wirst.
13
Q
Articulated robot.
A
Aa + 3 DoF wirst (2 types of this wirst)
