There are several types of manipulators kinematics, including:
Cartesian manipulators: This type of manipulator uses three linear axes of motion to move the end-effector in a Cartesian coordinate system. This allows for precise control over the position and orientation of the end-effector, making it suitable for tasks that require accurate positioning.
Cylindrical manipulators: Cylindrical manipulators have one rotary axis and two linear axes of motion. This type of manipulator is often used for tasks that require a combination of rotational and linear movement, such as turning screws or drilling holes.
SCARA (Selective Compliance Assembly Robot Arm) manipulators: SCARA manipulators have two parallel rotary joints and one linear axis of motion. This configuration allows for fast and precise positioning of the end-effector in a vertical plane, making it suitable for applications such as pick-and-place tasks in assembly lines.
Articulated manipulators: Articulated manipulators consist of multiple rotary joints connected in series, allowing for a greater degree of freedom in movement. This type of manipulator is versatile and can be used for a wide range of applications, from welding and painting to assembly and material handling.
The main differences between these types of manipulators lie in their degrees of freedom, range of motion, precision, speed, and payload capacity. Cartesian manipulators offer precise control over position and orientation, while cylindrical manipulators excel in tasks that require a combination of rotational and linear movement. SCARA manipulators are known for their fast and precise positioning in a vertical plane, while articulated manipulators offer greater flexibility and range of motion. Ultimately, the choice of manipulator kinematics will depend on the specific requirements of the application.
