Robot Arm Configurations:

• Cartesian (3P)
• Cylindrical (R2P)
• Spherical (Polar) (2 RP)
• Articulated (3R)
• SCARA ( 2R in horizontal + 1P in vertical plane)

Casrtesian (3P)
• Due to their rigid structure they can manipulate high loads so they are commonly used for pick-and-place operations, machine tool loading, in fact any application that uses a lot of moves in the X,Y,Z planes.
• These robots occupy a large space, giving a low ratio of robot size to operating volume. They may require some form of protective covering.

Cylindrical (R2P)
• They have a rigid structure, giving them the capability to lift heavy loads through a large working envelope, but they are restricted to area close to the vertical base or the floor.
• This type of robot is relatively easy to program for loading and unloading of palletized stock, where only the minimum number of moves is required to be programmed.

Spherical (Polar) (2 RP)
• These robots can generate a large working envelope.
• The robots can allow large loads to be lifted.
• The semi-spherical operating volume leaves a considerable space near to the base that cannot be reached.
• This design is used where a small number of vertical actions is adequate: the loading and unloading of a punch press is a typical application.

Articulated Arm (3R)
• This is the most widely used arm configuration because of its flexibility in reaching any part of the working envelope.
• This configuration flexibility allows such complex applications as spray painting and welding to be implemented successfully.

SCARA
• Although originally designed specifically for assembly work, these robots are now being used for welding, drilling and soldering operations because of their repeatability and compactness.
• They are intended for light to medium loads and the working volume tends to be restricted as there is limited vertical movement.