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JABATAN PEMBANGUNAN KEMAHIRAN
KEMENTERIAN SUMBER MANUSIA
ARAS 7 & 8 BLOK D4, KOMPLEKS D
PUSAT PENTADBIRAN KERAJAAN PERSEKUTUAN
62502 PUTRAJAYA

KERTAS PENERANGAN
KOD DAN NAMA
PROGRAM / PROGRAM H-176-2 AUTOMATION TECHNICIAN
CODE AND NAME
NO DAN TAJUK MODUL/
M09 ROBOT MAINTENANCE
MODULE NO AND TITLE

NO DAN PERNYATAAN
09.01 CARRY OUT ROBOTS CONDITION CHECK
TUGASAN / TASK(S) NO
09.02 CARRY OUT ROBOT SAFETY CHECK
AND STATEMENT

NO. DAN PENGALAMAN LE01 IDENTIFY TYPES OF ROBOT
PEMBELAJARAN / LE02 PREPARE CHECKING TOOL &
LANGKAH / EQUIPMENT
LE03 CHECK ROBOT CONDITIONS AND SAFETY
NO. AND LEARNING
EXPERIENCE/ STEPS LE04 RECORD ROBOT CONDITIONS

PERFORM MAINTENANCE OF ROBOT USING
MANUFACTURER’S SPECIFICATION,ROBOT
PROGRAMMING LANGUAGE,PROGRAMMING MANUALS
AND DATA BOOK,LOGBOOK,CHECKLIST,HAND
OBJEKTIF MODUL /
TOOLS,SPECIAL TOOLS,REPORT FORMS ETC.SO THAT
MODULE OBJECTIVE
TYPES OF ROBOT IDENTIFIED,CONDITION AND SAFETY
CONDITION CHECKED AND RECORDED IN ACCORDANCE
WITH JOB SPECIFICATION REQUIREMENT AND
STANDARD OPERATING PROCEDURES.

NO. KOD / CODE NO H-176-2/M09/KP(1/4) Muka : 01 Drp :

TITLE : TYPES OF ROBOT

AIM : This explanatory paper is intended to describe the preparations needed to identify the types of
robots, symbols, terminology, specifications Robot, schematic / block diagram, Programming Language,
and Function Robot. By the trainees will acquire the information, skills and knowledge base robot.

CLASIFICATION OF INDUSTRIAL ROBOTS

There are 6 different types of robots classification found in usage today .There are:

1. Cartesian / Gantry robot
2. Cylindrical robot
3. Spherical / Polar robot
4. SCARA robot
5. Articulated robot (joint-arm, revolute) and
6. Parallel robot

Robotic Joints

• A robot joint is a mechanism that permits relative motion between parts of a
robot arm.
• Relative Motion: Rotational, Radial, Vertical
• These basic movements, independently or in combination with others, define the
complete motion of the end effector…

Joints

• Prismatic (sliding, linear) “L”: The cross section of the joint is considered as a generalized prism.
• Revolute “R”, “T”, ”V”: Angular motion between links

Figure 1 ”Joints”

1.Cartesian / Gantry robot

It is used for pick and place work, application of sealant, assembly operations,handling machine tools
and arc welding.It’s a robot whose arm has three prismatic / linear joints whose axes are coincident
with a cartesian coordinator.

Figure 2 ”Cartesian / Gantry robot”

• A cartesian moves in three liner axes
• The box-shaped work envelope within which a Cartesian-coordinates
• An overhead crane,its movement are similar to the cartesian-coordinates

Advantages:
• 3 Linear axes
• Easy to visualise
• Rigid structure
• High load capacity
• Big workspace

Disadvantage:
• Requires large floor space
• Low speed

Application area:
• Palletizing
• Packaging
• Commissioning

Chip Handling Palletizing / Handling

Figure 3 ”Cartesian / Gantry robot”

2. Cylindrical robot

It is used for assembly operations, handling at machine tools, spot welding, and handling at die-
casting machines.Its a robot whose axes form a cylindrical coordinate system.

Figure 4 “Cylindrical robot”

Advantages:

• 2 Linear axes, one rotating axis
• Can reach all around itself
• Reach and height axes rigid
• Rotational axis easy to seal

Disadvantage:

• Cannot reach above itself
• Base rotation axis is less rigid than a linear axis
• Horizontal motion is circular

3. Spherical / Polar robot

It is used for handling tools, spot welding, die-casting, fettling machines,gas welding
and arc welding. Its a robot whose axes form a polar coordinate system. This type of
robot is rarely used today.

Figure 5 “Spherical / Polar robot”

4. SCARA robot (Selective Compliance Assembly Robot Arms)

SCARA is an acronym for Selective Compliance Assembly Robot Arm. It is used
for pick and place work, application of sealant, assembly operations and handling
machine tools. It’s a robot which has two parallel rotary joints to provide compliance in
a plane.

Figure 6 “SCARA robot (Selective Compliance Assembly Robot Arms)”

Figure 7 “Configuration: 2-3 rotational joints, 1 linear joint”

Advantages:
• very fast horizontal movements
• One linear axis,two rotating axes
• High stiffnes in the vertical direction/Height axis is rigid
• Very high repeatability
• Large work area for floor space

Disadvantages:
• Working area only in a plane
• Low load capacity
• Difficult to program off-line
• Highly complex arm

Application area:
• Palletizing
• Commissioning

Figure 8 “SCARA ROBOT”

5. Articulated robot / Revolute robot

This is the robot which we will study further in this class. It is used for assembly
operations, die-casting, gas welding, arc welding, and spray painting. Its a robot whose arm has at
least three rotary axes.

Figure 9 “Articulated robot / Revolute robot”

Configuration: 5-6 rotational joints

Advantages:

• 3-dimensional workspace
• high accuracy
• fast movements
• high load capacity
• arbitrary ( 6 joints) orientation of gripper

Applications:

• palletizing
• assembly
• welding
• painting
• surface processing
• workpiece and tool handling
• quality control

6. Parallel robot
One use of this robot is a mobile platform handling cockpit flight simulators. It’s a
robot arms have concurrent prismatic/linear or rotary joints.

Figure 10 “Parallel robot”

EXERCISE:

1. List down Industrial Robot classification

2. Explain the configuration of SCARA and GANTRY robot

3. In your opinion, which robot configuration will give a big impact for the long term investment of
robot usage in any production line? If you say that so, please explain why it can be

REFERENCES :

1 Yaakup Bin Saad, Mohammad Afiq dan Sahidan Tahir (2001), “Pengenalan Sistem Robot”,
Venton Publishing, Kuala Lumpur, ISBN: 983-2031-32-X.
2 M. Manimaran (2003), “Jenis-jenis Robot”, Kings Information Co. Ltd Taiwan, ISBN: 957-466-
981-5.
3 www.notakom.tripod.com, Spesifikasi Robot, 15 Feb 2010, 3.15 pm

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