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49PARTs Unit01 Introduction of robot Unit02 Introduction of industrial robot Unit03 Types of industrial robots Unit04 ABB robot Unit05 KUKA robot Unit06 YASKAWA robot Unit07 FANUC Robot Unit08 SCARA robot Unit09 Industry application of robot Unit10 New robots Unit11 Intelligent manufacturing and global robot development program Unit12 The outlook for industrial robot 49PARTs

Unit 3 Types of industrial robots Task： Part1 Cartesian coordinate robot Part2 SCARA robot Part3 Six-axis articulated robot Part4 Palletizing robots Part5 Delta robot Special English for Industrial Robot Unit 3 Types of industrial robots URL ：www.irobot-edu.com Mail：edubot_zhang@126.com

Figure 3-1 Cartesian coordinate robot Unit 3 Types of industrial robots 9 Part1 Cartesian coordinate robot Cartesian coordinate robot (also called linear robot) is an industrial robot with simple structure, as shown in figure 3-1. Cartesian coordinate robot is a robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator, whose three principal axis of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. Figure 3-1 Cartesian coordinate robot

9 Unit 3 Types of industrial robots Part1 Cartesian coordinate robot The three sliding joints correspond to moving the wrist up-down, in-out, back-forth. Among other advantages, this mechanical arrangement simplifies the robot control solution. Cartesian coordinate robots with the horizontal member supported at both ends are sometimes called Gantry robots; In terms of mechanical structure, they resemble gantry cranes, although the latter are not generally robots. Gantry robots are often quite large.

9 Unit 3 Types of industrial robots Part1 Cartesian coordinate robot A popular application for cartesian coordinate robot is a computer numerical control machine (CNC machine) and 3D printing, as shown in figure 3-2. The simplest application is used in milling and drawing machines where a pen or router translates across an x-y plane while a tool is raised and lowered onto a surface to create a precise design. Figure 3-2 3D printing

9 Unit 3 Types of industrial robots Part1 Cartesian coordinate robot Figure 3-3 Pick and place machines Pick and place machines and plotters are also based on the principal of the cartesian coordinate robot, as shown in figure 3-3.

9 Unit 3 Types of industrial robots Vocabulary Part1 Cartesian coordinate robot Vocabulary prismatic [prɪz'mætɪk] adj.棱镜的；光彩夺目的 structure ['strʌktʃɚ] n.构造；建筑物 milling ['mɪlɪŋ] n.磨；制粉；轧齿边 v.碾磨 drawing ['drɔɪŋ] n.图画；牵引 v.绘画；吸引 router ['rʊtɚ] n. [计] 路由器；刳刨者 plotter ['plɑtɚ] n.[测] 绘图机；阴谋者

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