345-398_7_TM43.qxp 05.09.

2006 17:43 Seite 378

378 Automation: 7.6 Handling and robot systems

cf. DIN EN ISO 9787 (2000-
Coordinate systems and axes 07)

M Robot axes
Robot auxiliary axes
Coordinate system Robot main axes for positioning
for orientation

+Y pitch
+ Y1 Z
+Z1 C
P
Y
+X
P B A
Y R
+ X1 yaw
+Z X roll

To manipulate workpieces To reach a desired point in space, 3 robot main axes are 3 robot auxiliary axes for
or tools in space, the follow- necessary. spatial orientation
ing are necessary: • R (roll)
• 3 degrees of freedom for Cartesian robots Articulated arm robots
positioning and • P (pitch)
3 translation axes 3 rotational axes
TD • 3 degrees of freedom for (T axes) designated (R-axes) designated • Y (yaw)
orientation X, Y and Z A, B and C
Coordinate systems cf. DIN EN ISO 9787 (2000-07)
Base
coordinate system
Z1
The base coordinate
system references
MS • the level mounting sur-
face for the X-Y plane
• the center of the robot for
the Z axis
Xm Flange
coordinate system
The flange coordinate sys-
tem references the end
Zm surface of the terminating
ME main axis of the robot.
Ym
Tool
coordinate system
TCP
The origin of the tool coor-
Xt
Y1 dinate system lies at the
tool center point TCP (Tool
Yt Center Point).
PE Zt The speed of the tool cen-
ter point is referred to as
the robot speed and the
X1 path of tool travel as the
robot trajectory.

Symbols for representing robots (selection) cf. VDI 2861 (1988-06)

Designation Symbol Designation Symbol Example RRR robots

A
Translation axis Rotation axis
au ax

(T-axis)1) (R-axis) 2)
xil is
ia
ry

Translation aligned Rotation

(telescoping) aligned
Translation out of Rotation out of 3 arm
alignment alignment joints
Auxiliary axis
3 hand
S Gripper (e.g. for roll, pitch
joints
and yaw)
1) Translation = straight line motion 2) Rotation = rotational motion