Classification of Robots
Tags: robots, robotics, mechatronics
Published: 2023-01-16 11:51:38

We have already known what is [automation in industry](https://mechatroneex.com/what-is-automation-in-industry/) & [evolution of robots](https://mechatroneex.com/evolution-of-robots/). Now in this page , we will know the classification of robots.
Robots has different types. Every type has its own advantages , also has disadvantages. Also this different classification of robots shows how robotic technology has evolved step by step.
 


## Classification of Robots :
Based on co-ordinate system , Robots can be classified in **5 types** :
1. **Cartesian (Rectangular) configuration Robot**
2. **Cylindrical configuration Robot**
3. **Spherical (Polar) configuration Robot**
4. **Jointed Arm or Revolute or Articulated Robot**
5. **SCARA Robot**



## Cartesian or rectangular Robot :

In this type of robots has all  joints prismatic type. The robot can move back & forth in the direction of front & back , left & right & up & down. Means it can move along x direction , y direction & z direction. This is why it is called Cartesian Robot. If we look at the workspace then it looks like a rectangular box. This is why the configuration of the robot is called Rectangular configuration. This configuration is denoted as **PPP**.
Movement along x is called **travel** , movement along y is called **elevation** and movement along z is called **reach**. We need **3 translations** to reach any position. 
The **workspace** is nothing but the space around the base of the manipulator that can be accessed by the arm endpoint. Dimension of the workspace the robot , depends on some parameters like the arm configuration, structure, degrees of freedom, size of links, and design of joints. The volume of the space swept is called work volume; the surface of the workspace describes the work envelope.


## Advantages : 
1. Easy to visualize
2. Rigid structure
3. Ease in programming
4. Can reach a position accurately.

## Disadvantages :
1. Can move only back & forth.
2. Requires large space but the working space is less.
3. Costly to implement.
4. Axes are hard to seal.



## Cylindrical Robot :

If the base prismatic joint of a cartesian robot is replaced by a revolute joint , then it becomes Cylindrical Robot. The arm endpoint or end-effector is capable of sweeping a cylindrical space. More precisely, the workspace is like a hollow cylinder. Usually a full 360° rotation of the vertical column is not permitted due to mechanical restrictions imposed by actuators and transmission elements. This configuration is denoted as **RPP**. 
Rotation about x is called **base rotation** , movement along y is called **elevation** and movement along z is called **reach**. We need** 2 translations and 1 rotation** to reach any position.
The cylindrical configuration provides enough mechanical stiffness and as the horizontal stroke increases the wrist positioning accuracy decreases accordingly. It is suitable to access narrow horizontal cavities and, hence, is useful for machine-loading operations.



## Advantages :
1. Can reach all around.
2. y & z axes are rigid.
3. Base rotation axis is easy to seal.
4. Works well for narrow openings.

## Disadvantages :
1. Can’t reach above itself.
2. y & z axes are hard to seal.
3. Base rotation axis is less rigid.
4. Can’t reach the object placed near the base.

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