plate) in X,Y, or Z directions at the tool flange, Stein
continues. “All four motors are moved in unison so the
robot moves to the desired location,” says Stein.
Looking at only a single arm and motor combination,
the servo motor turns the gearbox that is connected to the
inner arm. When the motor turns, this creates an up and
down motion at the end of the inner arm. “The outer arm
(passive) connects to the end of the inner arm (driven).
When the inner arm moves, it pushes or pulls on the outer
arm connected to the platform (tooling plate) causing the
platform to move. So, the motor rotates causing the inner
arm to move up which then pulls the outer arm connected
to the platform. When you combine all four motors, you
get four axis of motion,” Stein details.
The Delta- 4 Kinematic design enables the Quattro to
move in translational X, Y, and Z orientations and in
rotational (Theta) orientations simultaneously. These
capabilities drive the robot to precise locations for parts
and product handling. “The robot has four degrees of
freedom that allow movement in a Cartesian coordinate
system X, Y, Z, and Rotation. The robot uses all four
motors simultaneously to move anywhere in the workspace
— forward, backward, sideways, up, down, and rotated,”
While the common three-arm style robot offers some
rotational motion (and a fourth telescoping arm), these do
not offer the same full range of motion of the Quattro —
nor the repeatability of moving through the exact same
positions repeatedly. “The Adept Quattro features four
identical arms that share the forces and inertial load applied
to the end effector. The Quattro robot’s design enables
consistent speeds and acceleration, regardless of where in
the work envelope the robot is moving,” says Stein. This
makes a larger work envelope, faster cycling, and larger
The SmartController CX
The Adept SmartController CX motion controller
communicates command and control information to the
Quattro robots set up to sort and stack
solar cell wafers into bins.
Adept Quattro robots geared up for packaging consumer
goods such as candies.
individual Quattro robots. The operating system on
the SmartController is Adept’s own V+ — a real-time
operating system with its own command language.
The CX communicates through the Adept distributed
architecture called SmartServo, which is an IEEE 1394
communications interface. The SmartController works
with the Quattro, other Adept robots, and third-party
Single-arm Adept Viper bin — picking robot.
SERVO 10.2009 11