Movements pattern of axis
The different kinematics of industrial robots are always based on the following three axis respectively joints:
|Figure||Name and symbol||Remark|
|Linear joint (L)
- L-axis can be positioned precisely
- mechanical solid
- low agility
- if its movement is orthogonal, it can be defined as orthogonal (type O)
|pics is coming soon||pic is coming soon||Rotational joint (type R)- fast moments are possible
- mechanical weak compared to L-axis
|Revolving joint (type V)|
|Twisting joint (type T)|
|Spherical or ball joint (S)
for IR (still) not matter
No standard symbol exists.
|- Precision can be reduced due to the tolerance of each joint
- Possibility to move is reduced by additional levers
Main- and hand-axis
... using the example of the universal robot
The axis 1,2 and 3 represent the main axis of the robot. By means of these axis it is possible for the robot to reach each point within the workspace. The tool itself can be orientated by the axis 4,5 and 6 - also called auxiliary- or hand-axis.
The number of the axis stands for the order the axis are mounted.