Cartesian Robot

Cartesian robot is form by 3 prismatic joints, whose axes are coincident with the X, Y and Z
planes.

Cylindrical Robot

Cylindrical robot is able to rotate along his main axes forming a cylindrical shape.

Parallel Robot

Parallel robot constitutes two or more kinematics chains between the base and the platform
where the end-effectors are located. Parallel robot is a complex mechanism which is constituted
by two or more kinematics chains between, the base and the platform where the end-effectors are
located. Good examples are the flying simulator and 4-D attractions at Univ. Studios.
SCARA Robot

SCARA robot is built with 2 parallel rotary joints to provide compliance in a plane.

Polar Robot

Polar robot is able to rotate in two different directions along his main axes and the third joint
moves in translation forming a hemisphere or polar coordinate system.

Articulated Robot

Articulated robots are mechanic manipulator that looks like an arm with at least three rotary
joints.
Spherical Robot

It is still in the research laboratory, the Spherical robot is actually a spherical shape robot,
which has an internal driving source.

Simple Comparison
Configurati Advantages Disadvantages
on

3 linear axes, easy to Can only reach front of

Cartesian visualize, rigid structure, itself, requires large floor
coor easy to program space, axes hard to seal
dina
tes

2 linear axes +1 rotating, Can’t reach above itself,

Cylindrical can reach all around itself, base rotation axis as less
coor reach and height axes rigid, linear axes is hard
dina rigid, rotational axis easy to seal, won’t reach
tes to seal around obstacles

1 linear + 2 rotating axes, 2 ways to reach point,

SCARA height axis is rigid, large difficult to program off-
coor work area for floor space line, highly complex arm
dina
tes

1 linear + 2 rotating axes, Can’t reach around

Spherical long horizontal reach obstacles, short vertical
coor reach
dina
tes

3 rotating axes can reach Difficult to program off-

Revolute above or below obstacles, line, 2 or 4 ways to reach
coor largest work area for least a point, most complex
dina floor space manipulator
tes

REVOLUTION OF ROBOT
ASIMO (アシモ ashimo?) is a humanoid robot created by Honda. Standing at 130
centimeters (4 feet 3 inches) and weighing 54 kilograms (114 pounds), the robot
resembles a small astronaut wearing a backpack and can walk or run on two feet at
speeds up to 6 km/h (4.3 mph), matching EMIEW.[1] ASIMO was created at
Honda's Research & Development Wako Fundamental Technical Research Center
in Japan. It is the current model in a line of eleven that began in 1986 with E0.

Officially, the name is an acronym for "Advanced Step in Innovative MObility".

Honda's official statements claim that the robot's name is not a reference to science
fiction writer and inventor of the Three Laws of Robotics, Isaac Asimov.

As of February 2009, there are over 100 ASIMO units in existence.Each one costs
under $1 million (¥106,710,325 or €638,186 or £504,720) to manufacture,[4] and
some units are available to be hired out for $166,000 (¥17,714,316 or €105,920 or
£83,789) per year.

The Inception

The history of robot begins from 1921, when the first reference to the word robot appears in a
play opening in London. The play, written by Czechoslovakian Karel Capek, introduces the word
robot from the Czech robota, which means tedious labor.

1938

The first programmable paint-spraying mechanism is designed by Willard Pollard and Haroid
Roselund for the DeVilbiss Company.
1951

The first teleoperated articulated arm was designed by Raymond Goertz for the Atomic Energy
Commission. The design is based entirely on mechanical coupling between the master and slave
arms (using steel cables and pulleys).

1954

The first programmable robot named Universal Automation, is designed by George Devol. He
later shortens the name to Unimation, which then becomes the name of the first robot company.

1962

General Motors purchases the first industrial robot from Unimation and installs it on a
production line.

1968

Stanford Research Institute (SRI) builds Shakey, a mobile robot with vision capability,
controlled by a computer the size of a room.

1970

At Standford University a electrically powered robot arm is developed which later its kinematic
configuration becomes a standard for research projects. The arm is known as the Stanford Arm.

1973

The first commercially available minicomputer controlled industrial robot is developed by

Richard Hohn for Cincinnati Milacron.

1976

Robots are used on Viking 1 and Viking 2 space probes.

1977

ASEA, a European robot company, offers two sizes of electric powered industrial robots. Both
robots use a microcomputer controller.

1978

The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation.

1979
Hiroshi Makino of Yamanashi University designs the Selective Compliant Articulated Robot
Arm (SCARA) for assembly jobs in factories. They are very common in pick-and-place,
assembly, and packaging aplications.

First use of the word 'Robot'

The Czech playwright Karel Capek originated the term robot in his 1920 play "R.U.R." It was
derived from the Czechoslovakian word robota or robotnik which means slave, servant, or forced
labor. In the play, machine workers overthrow their human creators when a scientist gives them
emotions.

First use of the word 'Robotics'

The word 'robotics' was first used in Runaround, a short story published in 1942, by Isaac Asimov (born
Jan. 2, 1920, died Apr. 6, 1992). I, Robot, a collection of several of these stories, was published in 1950.
Asimov proposed the following "Laws of Robotics":

Law Zero:
A robot may not injure humanity, or, through inaction, allow humanity to come to harm.
Law One:
A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless
this would violate a higher order law.
Law Two:
A robot must obey orders given it by human beings, except where such orders would conflict with a higher
order law.
Law Three:
A robot must protect its own existence as long as such protection does not conflict with a higher order law.

DEFINITION TECHNOLOGY OF ROBOT

ORIENTATION

Orientation referring to sleeve bottom state robot compared to a plane refer.Axis x,y,z that is
fixed in reference plane would make as form guide sleeve bottom movement and orientation.

MANIPULATION

Robots which must work in the real world require some way to manipulate objects: pick
up,modify,destroy or otherwisehave an effect. This the hand of a robot are often refered to as end
effectors while the arm is refered to as a manipulator. Most robot arms have replaceable
effectors,each following them to perform some small range of task. Some have a fixed
manipulator which cannot be replaced, while a few have one very general purpose manipulator.