Types of Manipulators / Robotic Arms

Industrial manipulators and robotic arms can be classified according to their mechanical structure, kinematic configuration, and application. The main types include:

I. Classified by Mechanical Structure

1. Articulated Robots

   • Descripción: Features rotary joints (like a human arm), typically with 4-6 or more axes of motion.

   • Characteristics: High flexibility, large workspace, ability to reach around obstacles.

   • Applications: Welding, painting, material handling, assembly.

2. SCARA Robots

   • Descripción: Has two parallel rotary joints providing compliance in a plane, plus a linear Z-axis.

   • Characteristics: High speed, rigid in vertical direction, compact footprint.

   • Applications: Pick-and-place, assembly, screw driving, packaging.

3. Delta / Parallel Robots (Spider Robots)

   • Descripción: Uses three or four arms connected to a common base and moving platform via parallelograms.

   • Characteristics: Extremely high speed and acceleration, lightweight, excellent precision.

   • Applications: High-speed picking, sorting, packaging of lightweight items.

4. Cartesian / Gantry Robots

   • Descripción: Three linear axes (X, Y, Z) arranged perpendicularly.

   • Characteristics: Rigid structure, high accuracy, large workspace, simple control.

   • Applications: CNC machine loading, pick-and-place, dispensing, inspection.

5. Cylindrical Robots

   • Descripción: Has one rotary joint at base and at least one linear joint (vertical and radial).

   • Characteristics: Simple design, good for confined spaces.

   • Applications: Assembly, die casting, material handling.

6. Spherical / Polar Robots

   • Descripción: Features one rotary base, one pivot (rotary) shoulder, and one linear radial arm.

   • Characteristics: Large spherical workspace, now largely replaced by articulated robots.

   • Applications: Historical applications in welding, machine tending.

7. Collaborative Robots (Cobots)

   • Descripción: Designed for safe direct interaction with humans; often based on articulated or SCARA structures with force/torque limiting.

   • Characteristics: Built-in safety features, easy programming, no fencing required.

   • Applications: Assembly, machine tending, quality inspection, laboratory automation.

II. Classified by Drive System

1. Electric Robots: Powered by servo or stepper motors; most common type for precision and speed.

2. Pneumatic Robots: Powered by compressed air; simple, fast for simple pick-and-place tasks.

3. Hydraulic Robots: Powered by hydraulic fluid; high force capacity for heavy lifting.

III. Classified by Application

• Welding Robots

• Assembly Robots

• Painting / Coating Robots

• Material Handling / Palletizing Robots

• Machine Tending Robots

• Inspection / Testing Robots

• Surgical / Medical Robots

Summary: The choice of manipulator type depends on the specific application requirements, including payload, speed, precision, workspace geometry, and budget.