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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

11 Unit 3 Types of industrial robots Part3 Six-axis articulated robot Industrial robots have various axis configurations. An articulated robot is a robot with rotary joints (e.g. a legged robot or an industrial robot). Articulated robots can range from simple two-jointed structures to systems with 10 or more interacting joints. They are powered by a variety of means, including electric motors.

11 Unit 3 Types of industrial robots Part3 Six-axis articulated robot The six-axis articulated robot is a kind of widely used mechanical equipment. The vast majority of articulated robots, and, feature six axes, also called six degrees of freedom, as shown in figure 3-6. Six axis robots allow for greater flexibility and can perform a wider variety of applications than robots with fewer axes. Figure 3-6 six axes of six-axis articulated robot

11 Unit 3 Types of industrial robots Part3 Six-axis articulated robot Axis 1——This axis, located at the robot base, allows the robot to rotate from left to right. This sweeping motion extends the work area to include the area on either side and behind the arm. This axis allows the robot to spin up to a full 180 degree range from the center point. This axis is also known as J1. Axis 2—— This axis allows the lower arm of the robot to extend forward and backward. It is the axis powering the movement of the entire lower arm. This axis is also known as J2.

11 Unit 3 Types of industrial robots Part3 Six-axis articulated robot Axis 3—— The axis extends the robot's vertical reach. It allows the upper arm to raise and lower. On some articulated models, it allows the upper arm to reach behind the body, further expanding the work envelope. This axis gives the upper arm the better part access. This axis is also known as J3. Axis 4—— Working in conjunction with the axis 5, this axis aids in the positioning of the end effector and manipulation of the part. Known as the wrist roll, it rotates the upper arm in a circular motion moving parts between horizontal to vertical orientations. This axis is also known as J4.

11 Unit 3 Types of industrial robots Part3 Six-axis articulated robot Axis 5—— This axis allows the wrist of the robot arm to tilt up and down. This axis is responsible for the pitch and yaw motion. The pitch, or bend, motion is up and down, much like opening and closing a box lid. Yaw moves left and right, like a door on hinges. This axis is also known as J5. Axis 6—— This is the wrist of the robot arm. It is responsible for a twisting motion, allowing it to rotate freely in a circular motion, both to position end effectors and to manipulate parts. It is usually capable of more than a 360 degree rotation in either a clockwise or counterclockwise direction. This axis is also known as J6.

11 Unit 3 Types of industrial robots Vocabulary Part3 Six-axis articulated robot Vocabulary legged [lɛɡd] adj.有腿的 v.用脚移动或推动 interacting [ˌɪntɚˈæktɪŋ] n.相互作用v.互相影响 vertical ['vɝtɪkl] adj.垂直的；[解剖] 头顶的 n. 垂直面 tilt [tɪlt] vi.倾斜；翘起 vt.使倾斜；使翘起 n.倾斜 position [pə'ziʃəniŋ] n.定位；配置；布置 v.定位；放置 manipulation [mə,nɪpjʊ'leʃən] n.操纵；操作；处理；篡改 commercialized [kə'mɝʃəl,aɪz] adj.商业化的 v.使商品化 dual-arm   双臂 pitch [pɪtʃ] vi.倾斜；投掷 vt.投；掷 n投掷

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