By Moshe Shoham (auth.)
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Extra resources for A Textbook of Robotics 2: Structure, Control and Operation
The number of degrees of freedom which a robot has, by definition, equals the number of independent axes of motion along which links can be moved (by means of prismatic joints), or on which links can be rotated (by means of revolute joints). 9: This robot arm also has three axes 23 Structure, Control and Operation We will now try to calculate the number of degrees of freedom of the arm shown in Figure 2-8. 10 24 The mechanical arm From Figure 2-8, it is obvious that links can be rotated about axis 1 and about axis 2.
This structure also exists in the human arm, all of whose joints are revolute. K-+-I. - - - - . - - . 22: A vertical articulated robot manufactured by Asea Figures 2-23, 2-24, and 2-25 show three more robots. Schematic diagrams are also given, in each case, so that you can classify each robot in one of the five groups discussed above. STRUCTURAL CHARACTERISTICS OF ROBOTS In the preceding section, we classified robots into five groups. Now we will explore the characteristics of each group, in order to determine how we can predict the tasks a certain robot may be called upon to perform, on the basis of its characteristics alone.
Examining the above two examples, differences exist in the moments given load at a given velocity, or angular acceleration with a given areas of the work envelope. we find that great required to move a to achieve a given load, in different Additional examples of calculations involving moments of inertia of robot arms and moments required of robot motors will be given in Chapter 3. We conclude that the reaction of the robot arm to monents exerted by the motors is not uniform throughout the work envelope, and that this complicates control.
A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)
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