1) Cartesian coordinate type industrial robot
Its motion consists of three mutually perpendicular linear movements (PPP), and its workspace is rectangular. The distance it travels along each axis can be directly read on each coordinate axis, making it highly intuitive, easy to program and calculate position and orientation, highly accurate in positioning, with uncoupled control, and a simple structure. However, it occupies a large volume, has a small range of motion, poor flexibility, and is difficult to coordinate with other industrial robots.
2) Cylindrical coordinate industrial robot
Its motion is achieved through a motion system consisting of one rotation and two translations. Its workspace is cylindrical. Compared with Cartesian coordinate industrial robots, it occupies a smaller volume and has a larger range of motion under the same workspace conditions. Its positional accuracy is second only to Cartesian coordinate robots, but it is difficult to coordinate with other industrial robots.
3) Spherical coordinate industrial robots
Spherical coordinate industrial robots, also known as polar coordinate industrial robots, have an arm whose movement consists of two rotations and one linear motion (RRP, one rotation, one pitch and one extension motion). Its workspace is a sphere, which can perform up and down pitching movements and grasp coordinated workpieces on the ground or at low positions. It has high positional accuracy, and the positional error is proportional to the arm length.
4) Multi-joint industrial robots
Also known as a rotary coordinate industrial robot, this type of robot's arm resembles a human upper limb. Its first three joints are rotary joints (RRRs). This industrial robot typically consists of a column and a forearm and upper arm. The column and upper arm form a shoulder joint, and the upper arm and forearm form an elbow joint, allowing the upper arm to rotate and pitch, and the forearm to pitch. It has the most compact structure, high flexibility, and smallest footprint, and can coordinate with other industrial robots. However, its positional accuracy is relatively low, it has balance issues, and its control coupling is somewhat problematic. This type of industrial robot is becoming increasingly widely used.
5) Planar articulated industrial robots
It employs one prismatic joint and two rotary joints (PRRs). The prismatic joint enables vertical movement, while the two rotary joints control forward, backward, left, and right movements. This type of industrial robot is also known as a SCARA (Self-Compliance Assembly Robot Arm). It exhibits compliance in the horizontal direction and relatively high rigidity in the vertical direction. With its simple structure and flexible movements, it is widely used in assembly operations, particularly suitable for the insertion and assembly of small parts, such as in the electronics industry where it is extensively applied.
