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..)
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