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..)