Arm
An interconnected set of links and powered joints comprising a robot manipulator that supports and/or moves a wrist and hand or end-effector through space. The arm itself does not include the end-effector.
See Manipulator, End-effector and Wrist.
Articulated Manipulator
A manipulator with an arm that is broken into sections (links) by one or more joints. Each of the joints represents a degree of freedom in the manipulator system and allows translation and rotary motion.
The stable platform to which an industrial robotic arm is attached.
The Base Coordinate System (sometimes referred to as World Coordinate System) defines a common reference point for a cell or application. This is useful when using multiple robots or devices as positions defined in Base Coordinates will be the same for all robots and devices. (see figure at right)
The stationary base structure of a robot arm that supports the first joint.
An accessory device or tool, specifically designed for attachment to the robot wrist or tool mounting plate to enable the robot to perform its intended task.
The arrangement of links created by a particular set of joint positions on the robot. Note that there may be several configurations resulting in the same endpoint position.
Kinematics
The relationship between the motion of the endpoint of a robot and the motion of the joints.
The kinematics of an arm is normally split into forward and inverse solutions.
Link
A rigid part of a manipulator, which connects adjacent joints.
Links
The static material, which connects the joints of an arm together. Thereby a kinematical chain is formed. In a human body, the links are the bones.
Manipulator
A machine or robotic mechanism of which usually consists of a series of segments (jointed or sliding relative to one another) for the purpose of grasping and/or moving objects (pieces or tools), usually in several degrees of freedom.
Payload - This is the maximum amount of weight a robot’s wrist can lift. It is expressed in kilograms. A lot of the models contain the payload in their model number. For instance, the FANUC R-2000ib/125L has a payload of 125L kg.
Tool Center Point (TCP)
The Tool Center Point (TCP) defines the tip of the current tool as defined relative to the tool flange. For example, for a welding robot, the TCP will generally be defined at the tip of the welding gun. A
Work Envelope
The set of all points which a manipulator can reach without intrusion. Sometimes the shape of the work space, and the position of the manipulator itself can restrict the work envelope.
Horizontal Reach - This robot specification refers to the distance from the center of the robot to the end of the robot wrist when the robot arm is fully extended.
Vertical Reach - This refers to the distance from the base of the robot to the end of the robot wrist when the arm is fully extended upward.