Serial robot classification

Question 1

Definion of serial robot.

Answer 1

Is a particular type of robot that has only one kinematic chain that goes from the frame to the flange.

Question 2

Definition of parallel robot.

Answer 2

More than one kinematic chain from frame to flange.

Question 3

Serial robot structure.

Answer 3

1 kinematic chain that goes from the frame to the end-effector.

• Arm -> position
• Wrist (“polso”) -> orientation
• End-effector -> interaction

Question 4

Cartesian and Gantry arm.

Answer 4

Bb

Question 5

Cylindric arm.

Answer 5

Ab

Question 6

Spherical or Polar arm.

Answer 6

Ac

Question 7

SCARA arm.

Answer 7

Ba or aB

Question 8

Articulated arm.

Answer 8

Aa

Question 9

Types of wirst.

Answer 9

• 1 dof
• 3 dof

Question 10

What is the flange of the robot?

Answer 10

Is the final part of the kinematic chain where the tool (aka end-effector) will be attached.

Question 11

SCARA robot.

Answer 11

aB + 1 DoF wirst.

Question 12

Palletizing robot.

Answer 12

Articulated arm + 1 DoF wirst.

Question 13

Articulated robot.

Answer 13

Aa + 3 DoF wirst (2 types of this wirst)