Chapter 2 Fundamentals of Robotics 53
Cylindrical Configuration
A cylindrical configuration consists of two orthogonal slides, placed at
a 90° angle, mounted on a rotary axis, Figure 2-35. Reach is accomplished as
the arm of the robot moves in and out. For vertical movement, the carriage
moves up and down on a stationary post, or the post can move up and
down in the base of the robot. Movement along the three axes traces points
on a cylinder, Figure 2-36.
A cylindrical configuration generally results in a larger work envelope
than a Cartesian configuration. These robots are ideally suited for pick-and-
place operations. However, cylindrical configurations have some disadvan-
tages. Their overall mechanical rigidity is reduced because robots with a
rotary axis must overcome the inertia of the object when rotating. Their
repeatability and accuracy is also reduced in the direction of rotary move-
ment. The cylindrical configuration requires a more sophisticated control
system than the Cartesian configuration.
Typical applications for cylindrical configurations include the following:
• Machine loading and unloading
• Investment casting
• Conveyor pallet transfers
• Foundry and forging applications
Figure 2-34. This robot has a Cartesian confi guration and is used for high-precision jobs.
(Adept Technology, Inc.)