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Work 1: Examples of Robots by Morphology

Documentación y clasificación de robots industriales según su morfología cinemática y configuración de articulaciones.

1) Resumen

  • Nombre del proyecto: Work 1: Examples of robots by morphology
  • Equipo / Autor(es): Isaac Antonio Pérez Alemán
  • Curso / Asignatura: Ingeniería Mecatrónica
  • Fecha: 19/02/2026

3) Materials

  • No materials required.

5) Clasificación Morfológica (Procedure)

1. Cartesian Robot (PPP)

  • Ejemplos: 3D Printers and CNC Milling Machines.
  • Descripción: Also known as Gantry robots. They move in straight lines across three orthogonal axes (X, Y, Z), creating a rectangular or cubic workspace.
  • Características: They are extremely precise, rigid, and easy to program.
  • Aplicaciones: Most desktop 3D printers use this setup, along with CNC machines for large-scale industrial cutting.

2. SCARA Robot (RRP)

  • Ejemplos: Epson G-Series.
  • Descripción: Selective Compliance Assembly Robot Arm. It features two parallel revolute joints for the horizontal plane and one prismatic joint for vertical movement.
  • Características: Rigid in the Z-axis but compliant in the X-Y axes.
  • Aplicaciones: It is widely used in pick-and-place operations and electronic component assembly. It is the gold standard for high-speed assembly.

3. Articulated Robots (RRR)

  • Ejemplos: KUKA KR QUANTEC.
  • Descripción: Features three or more revolute joints (R-R-R). It mimics the human arm (shoulder, elbow, wrist).
  • Características: The most common industrial robot. It offers maximum flexibility and can reach almost any orientation within its workspace.
  • Aplicaciones: Heavy-duty welding, painting, and palletizing.

4. Spherical Robots (RRP)

  • Ejemplos: Unimate 1900.
  • Descripción: Consists of two revolute joints and one prismatic (telescopic) joint.
  • Características: Its workspace forms a section of a sphere. While less common today, it was the design of the very first industrial robots.
  • Aplicaciones: Unimate 1900 was the pioneer of the automotive industry (used for die casting and spot welding).

5. Cylindrical Robots (RPP)

  • Ejemplos: Wafer Handlers.
  • Descripción: Features one revolute joint at the base and two prismatic joints. The arm moves up/down and in/out while the base rotates.
  • Características: It creates a cylindrical workspace, ideal for reaching into deep, narrow cavities.
  • Aplicaciones: Moving silicon discs (wafers) in cleanrooms and automated storage/retrieval systems.

6. Delta Robots (Parallel)

  • Ejemplos: Fanuc M-1iA.
  • Descripción: Consists of three parallel arms connected to a single platform at the bottom.
  • Características: Designed for extreme speed. The heavy motors are fixed at the base, making the moving parts very light and agile.
  • Aplicaciones: High-speed sorting, packaging (e.g., food or pharmaceutical industries).