There are several types of manipulators kinematics, including:
Cartesian kinematics: Cartesian kinematics use three linear axes (X, Y, Z) to move the end effector of the manipulator in a straight line or along a plane. This type of kinematics is simple and easy to program, but has limited reach and flexibility.
Polar kinematics: Polar kinematics uses a combination of linear and rotational axes to move the end effector in a circular or spherical motion. This type of kinematics provides greater reach and flexibility compared to Cartesian kinematics, but can be more complex to program and control.
Cylindrical kinematics: Cylindrical kinematics uses a combination of linear and rotational axes to move the end effector in a cylindrical motion. This type of kinematics is suitable for tasks that require vertical or horizontal movement, such as drilling or milling operations.
SCARA kinematics: SCARA (Selective Compliance Assembly Robot Arm) kinematics use a combination of linear and rotational axes to provide both vertical and horizontal movement. This type of kinematics is commonly used in assembly applications where precision and speed are required.
The main difference between these types of manipulators kinematics lies in the way they move the end effector – whether in a straight line, circular motion, cylindrical motion, or a combination of these movements. The choice of kinematics depends on the specific requirements of the task, such as reach, flexibility, precision, and speed. Each type of kinematics has its own characteristics and advantages, so it is important to carefully consider these factors when selecting a manipulator for a particular application.
