Special English for Industrial Robot URL ：www.irobot-edu.com Mail ：edubot_zhang@126.com

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

13 Unit 3 Types of industrial robots Part5 Delta robot A delta robot is a type of parallel robot. consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector. By contrast, a Stewart platform can change the orientation of its end effector.

Figure 3-11 FANUC M-3iA Robot Unit 3 Types of industrial robots 13 Part5 Delta robot Typical Product In 1999, ABB Flexible Automation started selling its delta robot, the FlexPicker, as shown in figure 3-10. In 2009, FANUC released the newest version of the delta robot, the FANUC M-1iA robot, and would later release variations of this delta robot for heavier payloads. FANUC released the M-3iA in 2010 for heavier payloads, as shown in figure 3-11. And most recently the FANUC M-2iA Robot for medium-sized payloads in 2012. Figure 3-10 ABB – FlexPicker Figure 3-11 FANUC M-3iA Robot

13 Unit 3 Types of industrial robots Design principle Part5 Delta robot Design principle The delta robot is a parallel robot, i.e. it consists of multiple kinematic chains connecting the base with the end-effector. The robot can also be seen as a spatial generalisation of a four-bar linkage. The key concept of the delta robot is the use of parallelograms which restrict the movement of the end platform to pure translation, i.e. only movement in the X, Y or Z direction with no rotation.

13 Unit 3 Types of industrial robots Design principle Part5 Delta robot Design principle The robot's base is mounted above the workspace and all the actuators are located on it. From the base, three middle jointed arms extend. The ends of these arms are connected to a small triangular platform. Actuation of the input links will move the triangular platform along the X, Y or Z direction. Actuation can be done with linear or rotational actuators, with or without reductions (direct drive).

13 Unit 3 Types of industrial robots Design principle Part5 Delta robot Design principle Since the actuators are all located in the base, the arms can be made of a light composite material. As a result of this, the moving parts of the delta robot have a small inertia. This allows for very high speed and high accelerations. Having all the arms connected together to the end-effector increases the robot stiffness, but reduces its working volume.

13 Unit 3 Types of industrial robots Applications Part5 Delta robot Delta robots have popular usage in picking and packaging in factories because they can be quite fast, some executing up to 300 picks per minute. Industries that take advantage of the high speed of delta robots are the packaging industry, medical and pharmaceutical industry. For its stiffness it is also used for surgery. Other applications include high precision assembly operations in aclean room for electronic components.

13 Unit 3 Types of industrial robots Vocabulary Part5 Delta robot parallelogram ['pærə'lɛlə'græm] n.平行四边形 restrict [rɪ'strɪkt] vt.限制；约束；限定 rotation [ro'teʃən] n.旋转；循环，轮流 triangular [traɪ'æŋgjəlɚ] adj.三角的，[数] 三角形的；三人间的 reduction [rɪ'dʌkʃən] n.减少；下降；还原反应 inertia [ɪ'nɝʃə] n. [力] 惯性；迟钝；不活动 stiffness ['stɪfnɪs] n.僵硬；坚硬；不自然；顽固 workspace ['wɝkspes] n.工作空间

配套资源 更多资源 书 名：工业机器人专业英语 出 版 社：华中科技大学出版社 教学视频：海渡学院APP（免费观看） 书 名：工业机器人专业英语 出 版 社：华中科技大学出版社 配套资源 教学视频：海渡学院APP（免费观看） 教学课件：工业机器人教育网（http://college.irobot-edu.com/videoOnline/vid.aspx?s=47） 习 题：联系edubot_zhang@126.com ← 扫一扫微店购书： 九大系列教材 最新出版上架信息 更多资源 网址：www.irobot-edu.com 邮箱：edubot_zhang@126.com 源自哈尔滨工业大学 专注工业机器人教育

E-mail : edubot@hitrobotgroup.com 哈工海渡：www.edubot.cn 海渡学院APP 工业机器人 教育网 专业建设 尹老师：138-1284-1806 喻老师：158-5270-3086 培训服务 俞老师：152-5252-1235 郑老师：187-5513-0658 工业机器人技术交流QQ群： 313623823 E-mail : edubot@hitrobotgroup.com 哈工海渡：www.edubot.cn 海渡学院：www.edubotcoll.com 工业机器人教育网：www. Irobot-edu.com 网址：www.irobot-edu.com 邮箱：edubot_zhang@126.com 源自哈尔滨工业大学 专注工业机器人教育

THANK YOU www.irobot-edu.com edubot_zhang@126.com