<p style="text-align:justify"><span style="font-size:14px">In this section you will learn the types of robots that are available for automation in the industry, their types and how to select the best fit for your application:&nbsp;Firstly, we need to understand the parameters that are to be considered based on the requirement from your end and their mapping to a robot.</span></p>

<p style="text-align:justify"><span style="font-size:14px">As shown in the list below, the following parameters need to be studied and assessed to start the process of robot selection.</span></p>

<p style="text-align:justify"><span style="font-size:14px">&nbsp;<img alt="" src="https://edupmquestionhelp.s3.ap-south-1.amazonaws.com/hint/uploads/images/16354858951635485895.png" /></span></p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">One may observe that the headers mentioned in the above list have been explained in module 1 along with the different types of robots, namely: SCARA, Delta, Cartesian, Cylindrical and Articulated.</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Moving forward, each robot type is then parameterised and then compared to our requirements, i.e. understand the table mentioned below:<img alt="" src="https://edupmquestionhelp.s3.ap-south-1.amazonaws.com/hint/uploads/images/16354859371635485937.png" /></span></li>
</ul>

<p>&nbsp;</p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">As seen in the above image, we are focusing more on these four robots as they are used in approximately 85% of industrial automation applications. One can roughly assess these parameters first and have a fair estimation of the type of robot. If not, read through the following paragraphs of each robot type to understand the nuances of each.</span></li>
</ul>

<p style="text-align:justify">&nbsp;</p>

<p style="text-align:justify"><strong><span style="font-size:14px">Articulated Robots:</span></strong></p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">Advantages: The most flexible movement of all robot types.&nbsp; It is quite powerful and capable of lifting heavy objects.</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Disadvantages: Possibility of needing to fence in the area.&nbsp; It is slower than some of the other robot arms.&nbsp; Costs more than other robot arms.&nbsp; A more sophisticated control system is needed.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">The movement of an articulated robot arm is most similar to that of a human arm compared to other types of robot arms.&nbsp; An articulated arm typically has six axes or joints.&nbsp; Based on the application and manufacturer, the number of elements may vary.&nbsp; A robot with more joints moves more smoothly and is less robot-like.</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Link to visualise the movement:&nbsp;&nbsp;<a href="https://vimeo.com/116718201">https://vimeo.com/116718201</a></span></li>
	<li style="text-align: justify;"><span style="font-size:14px">In some applications, a robot arm is equipped with a gripper, the robotic equivalent of a hand.&nbsp; Robot grippers are usually simpler than human hands.&nbsp; A suction cup or an electromagnet may be enough to achieve their purpose. Maybe at times, a three-fingered, soft gripper might be used to pick up delicate objects, like fresh produce or an egg.&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Alternatively, the End of Arm Tooling (EoAT) as it is called, can be some kind of tool, perhaps a rotating tool that holds a drill bit, or some other kind of a bit, for deburring, grinding or milling.&nbsp; There are many possibilities, including specialized EoAT for welding, painting, sanding, laser cutting, and many more.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Articulated robots are used in applications such as arc welding, spot welding, packaging, machine tending, material handling and sometimes pick &amp; place. The ability to produce arcs (or similar patterns) in hard-to-reach places makes articulated robots a good candidate for the automotive industry and other manufacturing which requires this ability.&nbsp;&nbsp;&nbsp;</span></li>
</ul>

<p style="text-align:justify">&nbsp;</p>

<p style="text-align:justify"><strong><span style="font-size:14px">Gantry robots:</span></strong></p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">What is meant by Gantry robots are not the overhead crane structures used in industries to lift heavy loads but rather smaller robots having a cuboidal work volume and are used for specific pick and place applications.</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Link to visualise the movement: <a href="https://vimeo.com/134235805">https://vimeo.com/134235805</a></span></li>
	<li style="text-align: justify;"><span style="font-size:14px">They can have varied lengths ranging from 500mm to 1500mm for the movement of lighter payloads</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">The primary difference between the gantry and Cartesian robots is that a Cartesian robot uses one linear actuator on each axis, whereas a gantry robot is always constructed with two bases; (X) axes, with the second (Y) axis spanning them. This configuration prevents the second axis from being cantilevered (more on that below) and allows gantries to have much longer stroke lengths&nbsp;</span></li>
</ul>

<p style="text-align:justify">&nbsp;</p>

<p style="text-align:justify"><strong><span style="font-size:14px">SCARA robots:</span></strong></p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">Advantages:&nbsp; Excellent for many assembly applications.&nbsp; Fast and accurate. Cost-effective for assembly operations.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Disadvantages:&nbsp; Not as flexible as articulated arms.&nbsp; Not as accurate as Cartesian arms. Not as fast as Delta robot arms.&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Link to visualise the movement: <a href="https://youtu.be/vKD20BTkXhk">https://youtu.be/vKD20BTkXhk</a></span></li>
	<li style="text-align: justify;"><span style="font-size:14px">A selectively compliant assembly operation can prove quite useful, for example, when a part needs to be inserted into a circuit board.&nbsp; Often, a part has to be inserted into a hole in this kind of assembly.&nbsp; The part needs a little &quot;compliance&quot; to find the centre point - a little wiggling around, or a bit of &quot;give&quot;.&nbsp; Afterwards, the insertion force must be rigid and firm.</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">In comparison with Cartesian robots, SCARA robots are less rigid and can lift less weight, in contrast to the Cartesian robot that can lift quite a bit of weight.&nbsp; The small footprint of SCARA robots makes them ideal for applications where there are few distances to be moved. They have fewer degrees of freedom than the articulated arms. On the other hand, they have a high degree of accuracy and are quite repeatable.&nbsp; And they are less expensive than an articulated arm.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">The work envelope of a SCARA robot is cylindrical, which is also a consideration when considering the application.&nbsp;</span></li>
</ul>

<p style="text-align:justify">&nbsp;</p>

<p style="text-align:justify"><strong><span style="font-size:14px">Delta Robots:</span></strong></p>

<ul>
	<li style="text-align: justify;"><span style="font-size:14px">Advantages: Fastest design of robot arms for pick and place operations.&nbsp; Lightweight. Accurate.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Disadvantages:&nbsp; Limited to relatively small and lightweight objects.&nbsp; Not suitable for working on objects in a vertical plane.&nbsp; Limited reach.&nbsp;&nbsp;</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Link to visualise the movement:&nbsp; <a href="https://vimeo.com/103779354">https://vimeo.com/103779354</a></span></li>
	<li style="text-align: justify;"><span style="font-size:14px">The design of the Delta robot results in high-speed and precise operation.&nbsp; Pick-and-place applications are the primary use of Delta robots. &nbsp; Adhesive dispensing, soldering and assembly are additional applications. Due to their limited payload capacity, delta robots are not suitable for heavy applications which in turn limits the types of End of Arm Tooling (EoAT).</span></li>
	<li style="text-align: justify;"><span style="font-size:14px">Rotating joints may sometimes be placed at the end of the arms of hybrid Delta robots to increase the flexibility of their motion.</span></li>
</ul>