54 Unit One Principles of Robotics
Vertical
Reach
R
otation
Figure 2-35. The basic confi guration for a cylindrical robot includes two slides for movement up and
down or in and out and is mounted on a rotary axis.
R
otation
Vertical
Reach
Work envelope
(profile of
generated volume)
Figure 2-36. Motion along the three axes traces points on a cylinder to form the work envelope.