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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
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:
Robotic Joints
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”
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”
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
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.
Advantages:
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.
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
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.
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.
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