Editing Industrial robot (section)

==Types and features==
[[Image:FANUC 6-axis welding robots.jpg|thumb|A set of six-axis robots used for [[welding]]]]
[[Image:Factory Automation Robotics Palettizing Bread.jpg|thumb|Factory automation with industrial robots for palletizing food products like bread and toast at a bakery in Germany]]
There are six types of industrial robots.<ref name=":0">{{Cite web|title=OSHA Technical Manual (OTM) {{!}} Section IV: Chapter 4 - Industrial Robots and Robot System Safety {{!}} Occupational Safety and Health Administration|url=https://www.osha.gov/dts/osta/otm/otm_iv/otm_iv_4.html#2|access-date=2020-11-15|website=www.osha.gov}}</ref>

=== Articulated robots ===
{{Main|Articulated robot}}
Articulated robots<ref name=":0" /> are the most common industrial robots.<ref name=":1">{{Cite web|last=Guarana-DIY|date=2020-06-30|title=The Top Six Types of Industrial Robots in 2020|url=https://diy-robotics.com/blog/top-six-types-industrial-robots-2020/|access-date=2020-11-15|website=DIY-Robotics|language=en-CA}}</ref> They look like a [[Arm|human arm]], which is why they are also called [[robotic arm]] or [[Manipulator (device)|manipulator arm]].<ref>{{Cite web|date=2012|title=Robots and robotic devices — Vocabulary|url=https://www.iso.org/obp/ui/#iso:std:iso:8373:ed-2:v1:en|access-date=2020-11-15|website=www.iso.org}}</ref> Their articulations with several [[Degrees of freedom (mechanics)|degrees of freedom]] allow the articulated arms a wide range of movements.

=== Autonomous robot ===
An '''autonomous robot''' is a [[robot]] that acts without recourse to human control. The first autonomous robots  environment were known as [[Elmer and Elsie (robots)|Elmer and Elsie]], which were constructed in the late 1940s by [[William Grey Walter|W. Grey Walter]]. They were the first [[robots]] in history that were programmed to "think" the way biological brains do and meant to have free will.<ref>{{Cite web |date=2012-03-07 |title=The very first robot "brains" were made of old alarm clocks |url=https://gizmodo.com/the-very-first-robot-brains-were-made-of-old-alarm-cl-5890771 |access-date=2024-01-11 |website=Gizmodo |language=en}}</ref> Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of [[phototaxis]] which is the movement that occurs in response to light stimulus.<ref>{{Cite web |title=Grey Walter Constructs the First Electronic Autonomous Robots; the Origin of Social Robotics : History of Information |url=https://www.historyofinformation.com/detail.php?entryid=854 |access-date=2024-01-11 |website=www.historyofinformation.com}}</ref>

=== Cartesian coordinate robots ===
{{Main|Cartesian coordinate robot}}
Cartesian robots,<ref name=":0" /> also called rectilinear, gantry robots, and x-y-z robots<ref name=":1" /> have three [[prismatic joint]]s for the movement of the tool and three rotary joints for its orientation in space.

To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom). In a 2-dimensional environment, three axes are sufficient, two for displacement and one for orientation.<ref>{{Cite web|title=La robotique industrielle : guide pratique|url=https://www.usinenouvelle.com/expo/guides-d-achat/robotique-industrielle-6|access-date=2020-11-15|website=www.usinenouvelle.com|language=fr}}</ref>

=== Cylindrical coordinate robots ===
The [[cylindrical coordinate robots]]<ref name=":0" />  are characterized by their rotary joint at the base and at least one prismatic joint connecting its links.<ref name=":1" /> They can move vertically and horizontally by sliding. The compact effector design allows the robot to reach tight work-spaces without any loss of speed.<ref name=":1" />

=== Spherical coordinate robots ===
[[Spherical coordinate robots]] only have rotary joints.<ref name=":0" /> They are one of the first robots to have been used in industrial applications.<ref name=":1" /> They are commonly used for [[machine tending]] in die-casting, plastic injection and extrusion, and for welding.<ref name=":1" />

=== SCARA robots ===
{{Main|SCARA robot}}
SCARA<ref name=":0" /> is an acronym for Selective Compliance Assembly Robot Arm.<ref>{{Cite web|title=Comment savoir si le robot SCARA est le bon choix pour votre application|url=https://www.fanuc.eu/fr/fr/robots/page-de-filtre-des-robots/scara-series/selection-support|access-date=2020-11-15|website=www.fanuc.eu|language=fr|archive-date=2021-04-15|archive-url=https://web.archive.org/web/20210415003016/https://www.fanuc.eu/fr/fr/robots/page-de-filtre-des-robots/scara-series/selection-support|url-status=dead}}</ref> SCARA robots are recognized by their two [[parallel joints]] which provide movement in the X-Y plane.<ref name=":0" /> Rotating shafts are positioned vertically at the effector. SCARA robots are used for jobs that require precise lateral movements. They are ideal for assembly applications.<ref name=":1" />

=== Delta robots ===
{{Main|Delta robot}}
Delta robots<ref name=":0" /> are also referred to as parallel link robots.<ref name=":1" /> They consist of parallel links connected to a common base. Delta robots are particularly useful for direct control tasks and high maneuvering operations (such as quick pick-and-place tasks). Delta robots take advantage of four bar or parallelogram linkage systems.

Furthermore, industrial robots can have a serial or parallel architecture.

=== Serial manipulators ===
{{Main|Serial manipulator}}
Serial architectures a.k.a. serial manipulators are very common industrial robots; they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. SCARA, Stanford manipulators are typical examples of this category.

=== Parallel architecture ===
A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a [[serial manipulator]]. Errors in one chain's positioning are averaged in conjunction with the others, rather than being cumulative. Each actuator must still move within its own [[Degrees of freedom (mechanics)|degree of freedom]], as for a serial robot; however in the parallel robot the off-axis flexibility of a joint is also constrained by the effect of the other chains. It is this [[Control theory#Closed-loop transfer function|closed-loop]] stiffness that makes the overall parallel manipulator stiff relative to its components, unlike the serial chain that becomes progressively less rigid with more components.