Which statement most accurately describes a function of the minor axes?

• A. Control the orientation of the EOAT
• B. Establish the shape of the work envelope
• C. Position EOAT within the work envelope
• D. Define the location of the frames of motion

Answer: (A)

The key idea here is that motion in a robot arm is split between moving to a location and orienting the tool. The major axes are what move the end-of-arm tooling to a position inside the work envelope. The minor axes provide the rotational degrees of freedom that orient the EOAT. This orientation is essential for tasks like gripping or inserting parts, where the tool must face the correct direction. So the function described by the minor axes is to control the orientation of the EOAT, not its position within the workspace, the shape of the reachable envelope, or the frames used to describe the motion.