The main strength of six-axis robots is their dexterity and large working volume for a given
linkage-set size — whether installed on a floor base or inverted from a ceiling. To
illustrate, a six-axis arm that’s 600 mm tall when folded might reach 650 mm in all directions with the ability to quickly and concurrently sweep each joint 120° to 360° for nimble movement of electronic payloads of a few grams to several kilograms or more. Absolute encoders at each joint and Ethernet-based networking provide motion feedback and connectivity for PLC, PC, or dedicated robot controls and adaptive software to both command and improve processes over time. These controls include the integration of sophisticated end effectors — for example, grippers to safely handle small and fragile electronics components. Six-axis robots excel at machine tending and the packaging of electronics products. Beyond the assembly of the boards themselves, the robots can fasten electronics into end products’ metal or plastic housings and make the necessary electrical connections as well. Some six-axis robots can also execute finished electronics products kitting, case packing, and palletizing.
Figure 9: Cartesian robots execute fully automated semiconductor manufacturing tasks. Note the linear motors that provide high-precision direct driving on the critical axis. (Image source: Dreamstime)
Cartesian machinery typically executes dedicated automation tasks, as its kinematics tend to be less flexible and reconfigurable than that of other robotic types. However, accuracy is exceptional … especially when controls use feedback and generate commands for millisecond responsiveness. Such motion is key for automated board manufacturing; trimming and surface polishing; and extensive assembly routines. Cartesian robotics stations are also the top choice for large- format electronics such as flat- panel displays and solar panels.
Cartesian robotics in electronics manufacturing Cartesian robots — those based on modular stacks of linear axes — help operations satisfy the semiconductor industry’s need to maintain cleanroom conditions for many processes. Nearly unlimited scalability means travel can cover anything from a few centimeters to more than 30 meters. Cartesian robot repeatability can stay within ±10 μm on linear DOFs with comparable angular repeatability from end effectors as well as rotary-to-linear and direct-drive options for especially smooth transport of wafers. Speeds to six meters per second are common.
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