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Manipulators
Legged Robots
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Unmanned vehicles
Advancement in Robotics
Mars Rover
Micro surgery
Robotic Manipulator Anatomy
2 other links is called a binary link. Each link (1,2) has 2 holes
(A,B,C,D) which can be connected to other links. The links
can be connected by a joint and by inserting a pin inside
the joint an open kinematic joint can be made. The pin joint
permits revolution of the link hence it is called revolute joint
Types of Joints
Most of the industrial robots use revolute or prismatic
joints
In revolute joints, the links are joined by a pin and
they can rotate about the pin axis.
In prismatic joints sliding motion with respect each
other between the pair of links happen. A screw-nut
or rack pinion can be used to achieve the sliding
motion
In rotary joint (cylindrical), one link rotates with
respect other link at 90 deg.
Twist joints are produced between 2 links which are
aligned along the straight line and one link is rotated
with respect to the other.
In planar joints one surface slide over the other and
in spherical joints, the links can rotate in all the three
dimensions.
Degrees of freedom (DOF)
The number of movements an object can make in 3
dimensional space is called degrees of freedom
A rigid body free in space has 3 translations and 3 rotations-
totally 6 degrees of freedom- a manipulator which can give
these 6 DOF is called a spatial manipulator
Translations (T)- linear motion along three axes X, Y and Z
Rotations (R)- angular motion about the three axes
Cantilever configuration