By Moshe Shoham (auth.)
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Additional resources for A Textbook of Robotics 2: Structure, Control and Operation
Cartesian robot work volume is shown in Figure 2-28. Cylindrical Robot Work Volume The cylindrical robot executes one rotary motion and two linear motions. Figure 2-29 shows the motions and work volume of a cylindrical robot. The work volume of this type of robot is a hollow cylinder (as shown in Figure 2-29). The formula for this work volume is as follows: The values represented in this formula are: VCYL = cylindrical robot work volume; = linear displacement of joint I (height of the cylinder) • = linear displacement of joint 2 (a quantity which, when added to L, 48 denotes the The mechanical arm radius of the outer volume accessible to the end effector); L = radius of the internal volume not accessible to the end effector.
The more rigid a structure of a given weight is, the less it will be distorted by the action of a given load upon it. Naturally, high mechanical rigidity is desirable in robots, since the position of the robot arm will be less affected by loads in more rigid robots. The robot structure with the highest degree of mechanical rigidity is the Cartesian structure. For this reason, many machine tools are designed in this form. Machining requires the exertion of considerable forces on workpieces, and non-rigid structures tend to be distorted by strong forces leading, of course, to defective products.
We will also define all revolute joints as capable of 3600 rotation. Given the above assumptions, comparison of the formulas previously given results in the following: Vc = L3 VCYL = 3 TI L3 Vs = (28/3) TIL3 4 TIL3 VHA VVA = (32/3) TIL3 Work Volume in Theory and Practice The work volumes computed in the preceding sections are the theoretical work volumes of the various robot types. < * Robot motion has a number of mechanical limitations. For example, almost all revolute joints of most robots are incapable of 3600 rotation.