Preparing the published article.
Choosing Between 4-Axis and 6-Axis Robots
Fewer axes can be the better answer.
Comparison
| Aspect | 4-axis | 6-axis |
|---|---|---|
| Motion | Rotation about a vertical axis plus three linear axes | |
| Full position and orientation | ||
| Typical use | Palletising, pick and place, simple machine tending | |
| Complex paths, welding, assembly | ||
| Cycle time | Often faster for flat pick and place | |
| More time in orientation moves | ||
| Cost and control | Lower and simpler | |
| Higher and more complex |
Deciding factors
- Does the task need orienting the tool at arbitrary angles.
- Is the part presentation repeatable enough to keep orientation fixed.
- Is cycle time the dominant requirement.
- Can the cell be simplified to suit a 4-axis machine.
For flat, repetitive pick and place, a 4-axis machine often outperforms a 6-axis alternative.