February 18, 2011

Robot Anatomy

Robot anatomy:

Manipulator consists of joints and links
1.            Joints provide relative motion
2.            Links are rigid members between joints
3.            Various joint types: linear and rotary
4.            Each joint provides a “degree-of-freedom”
5.            Most robots possess five or six degrees-of-freedom

Robot manipulator consists of two sections:
1.            Body-and-arm –for positioning of objects in the robot's work volume
2.            Wrist assembly –for orientation of objects


Robot manipulator -a series of joint-link combinations

Types of Manipulator Joints

1  Translational motion
2  Linear joint (type L)
2  Orthogonal joint (type O)

1  Rotary motion
2  Rotational joint (type R)
2  Twisting joint (type T)
2  Revolving joint (type V)




Five common body-and-arm configurations for industrial robots:
1.    Polar coordinate body-and-arm assembly
2.    Cylindrical body-and-arm assembly
3.    Cartesian coordinate body-and-arm assembly
4.    Jointed-arm body-and-arm assembly
Selective Compliance Assembly Robot Arm (SCARA)
(TO BE CONTINUED IN NEXT POST..)

Disclaimer:
The above article doesn't give you any guarantee and the sole purpose of this article is to share my learning in the way I understood. Any comments to refine this article are welcome with great pleasure. Please report any breaking link by commenting below.

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