05-10-2016, 03:45 PM
1457938539-06.industrialrobotics.ppt (Size: 1.74 MB / Downloads: 16)
A general-purpose, programmable machine possessing certain anthropomorphic characteristics
Hazardous work environments
Repetitive work cycle
Consistency and accuracy
Difficult handling task for humans
Multishift operations
Reprogrammable, flexible
Interfaced to other computer systems
Robot Anatomy
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
Manipulator Joints
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Joint Notation Scheme
Uses the joint symbols (L, O, R, T, V) to designate joint types used to construct robot manipulator
Separates body-and-arm assembly from wrist assembly using a colon (
Example: TLR : TR
Common body-and-arm configurations …
Notation TLO:
Consists of a vertical column, relative to which an arm assembly is moved up or down
The arm can be moved in or out relative to the column
Cartesian Coordinate Body-and-Arm Assembly
Notation LOO:
Consists of three sliding joints, two of which are orthogonal
Other names include rectilinear robot and x-y-z robot
SCARA Robot
Notation VRO
SCARA stands for Selectively Compliant Assembly Robot Arm
Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks
Wrist Configurations
Wrist assembly is attached to end-of-arm
End effector is attached to wrist assembly
Function of wrist assembly is to orient end effector
Body-and-arm determines global position of end effector
Two or three degrees of freedom:
Roll
Pitch
Yaw
Notation :RRT