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Robot Anatomy
Robot anatomy is concerned with the physical
construction of the body, arm & wrist of the machine.
Most of the robots used in industries today are
mounted on a base which is fastened to the floor.
At the end of the arm is the wrist. The wrist is
oriented in a variety of positions
The assembly of body, arm and wrist is called
“Manipulator”
Attached to the robot’s wrist is a hand which is called
“end effector”
The body and arm joints position the end effector
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and wrist joints orient the end effector.
Robot System
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Robot Manipulator
Manipulator consists of joints and links
Joints provide relative motion.
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a “degree-of-freedom”
Most robots possess five or six degrees-of-
freedom
Robot manipulator consists of two sections:
Body-and-arm – for positioning of objects in the
robot's work volume
Wrist assembly – for orientation of objects
Robot Motions
Three joints are associated with the action of arm
and body
Two or three used to actuate the wrist
To move body, arm and wrist through a series of
motions and positions
End effector is used to perform a specific task
Robot’s movements divided into two categories:
1. Arm and body motions
2. Wrist motions
Individual joint motions referred as ‘ DOF ’
Motions are accomplished by powered joints
What is a joint?
A joint of robot is similar to a joint in the human
body
Joint
Link
In a plane
In space
Degrees of Freedom
3 position
3D Space = 6 DOF
3 orientation
In robotics:
DOF = number of independently driven joints
positioning accuracy
As DOF computational complexity
cost
flexibility
power transmission is
more difficult
The Six Possible Lower Pair
Joints
Degrees of Freedom
End of Arm
Link2
Link1
Joint2
Joint1
Link0
Base
Link0
Base
Translational Motion Joints
Linear joint (Type L)
Solution:
R
R
T T R
R T
R
R V
T T
Applications
Assembly
Palletizing and loading-unloading machine tools,
Handling
Welding
11 June 2018 30 Cont.
Robot Anatomy..
2. Cylindrical Configuration
Use vertical column which rotates and a slide
that can be moved up or down along the
column
Arm is attached to slide which can be moved
in and out
Kinematic designation is RPP
Notation TLO:
Operate within a cylinder work volume
Work volume may be restricted at the back
side
11 June 2018 31 Cont.
Robot Anatomy..
2. Cylindrical Configuration..
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