48 Unit One Principles of Robotics
A
B
(Side view) (Top view)
Figure 2-28. A—This painting robot is vertically articulated. (ABB Graco Robotics, Inc.) B—The shaded
areas represent a top view of the work envelope for this robot.
1
2
3
4
5
Figure 2-27. These fi ve revolute (rotary) joints are associated with the basic manipulator movements
of a vertically articulated robot. (Adept Technology, Inc.)