GATE Robotics & Automation · CIM · Robot anatomy
Five arms, five work volumes.
Drag the geometry, watch the envelope.
Every industrial robot's reachable space follows from three things: which joints are prismatic, which are revolute, and how far each one travels. Set those below and the plan and elevation views redraw from the actual geometry — the work volume printed on the right is integrated from what you see, not looked up.
Cartesian
Orthographic views · not to scaleWork envelope Arm links Tool centre point
Cartesian
Rectangular / gantry
Geometry & joint limits
These set the envelope. Change them and the shaded region changes.
Joint variables — current pose
These move the arm inside the envelope. The tool point never leaves it.
Why engineers pick it
Where it falls down
Typical applications
Exam notes
The five configurations, side by side
Notation matters in the exam. P/R describes the joint type; Groover's letters describe the motion the joint produces, which is why cylindrical and SCARA look identical in P/R but not in Groover.
| Configuration | P/R | Groover | Envelope shape | Work volume | Repeatability | Defining trait | Main limitation |
|---|
Check yourself
Eight questions in the style GATE asks them — configuration identification, envelope geometry and one numerical.
Answered 0 of 8
