ABSTRACT
Introduction and background Recent developments and the new applications of microelectronics and computer technologies have helped the evolution of programmable manufacturing equipment. Industrial robots normally classed as programmable machines utilize the enabling computer technologies for their operation. However, the anatomical configuration of industrial robots differs significantly from that of conventional machine tools as a robot’s active work volume is considerably greater than the physical construction of the arm allows. The work volumes for a selection of robot arm configurations are shown in Figure 7.1, illustrating the extent of physical reach in each case (Hartley, 1983). It is important to note that the large work volume of a robot is desirable and in part represents an important feature of its flexibility in its industrial use. Although it is possible to restrict the reach of the robot by mechanical means as a safety measure, this option limits the use of the robot to specific installations and reduces a flexible machine to dedicated hardware.
