56 Unit One Principles of Robotics
Work envelope
(profile of
generated volume)
Figure 2-38. The work envelope of this robot takes the shape of a sphere.
Typical applications of spherical configurations include the following:
• Die casting
• Injection molding
• Forging
• Machine tool loading
• Heat treating
• Glass handling
• Parts cleaning
• Dip coating
• Press loading
• Material transfer
• Stacking and unstacking
Special Configurations
Many industrial robots use combinations or special modifications of
the four basic configurations. The robot pictured in Figure 2-39A uses an
articulated configuration, but its base does not rotate horizontally. It is
designed to literally bend over backwards in order to grasp objects behind
it. This feature makes it possible to install these robots very close to other
equipment, which minimizes space requirements, while maintaining
a large, effective work envelope, Figure 2-39B. These robots are used in
applications such as spot welding and material handling.