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Robot manipulator
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
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Robot manipulator
- 1. 2. ROBOT MANIPULATOR DE S I G N A N D A P P L I C AT I O N S O F I N D U S T R I A L R O B OT S S A B A R I G I R I VA S A N . R I S B N 978-81-908268-0-8 2. ROBOT MANIPULATOR D E S I G N A N D A P P L I C AT I O N S O F I N D U S T R I A L R O B OT S S A B A R I G I R I VA S A N . R I S B N 978-81-908268-0-8
- 2. Robot Manipulator 1. Manipulatoris also known as robotic arm. 2. The arm is made up of a finite number of individual rigid segments. 3. Each rigid segment is called as a Link. 4. Links are connected to each other by joints. 5. Links move with respect to its joint. 2
- 3. Robotic ArmRobotic Arm DE S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R Base Waist Motor Power cable Lower arm Joint Link Upper arm Wrist Gripper mounting flange 3
- 4. Types of Joints Jointsare of two types 1. Linear joint – links move in linear fashion with respect to its joint when actuated. 2. Rotary joint – links move in rotary fashion with respect to its joint when actuated. 4
- 5. Types of JointsTypesof Joints D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R Link – 1 Link – 1 Link Joint Joint Link (a) Rotary joint (b) Linear joint 5
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- 8. Degrees of Freedom 1.Degrees of freedom (DOF) is defined as the ability of a joint to produce linear or rotary movement when actuated. 2. Number of DOF for a robot is equal to the number of joint axes in the robotic arm. 8
- 9. Lower Pair Joints 1.A lower pair joint is the joint in which two contacting surfaces can slide over with one another in rotary or linear manner. 2. They are of six types a) Revolute joint – 1 DOF b) Prismatic joint – 1 DOF c) Screw joint – 1 DOF d) Cylindrical joint – 2 DOF e) Planar joint – 3 DOF f) Spherical joint – 3 DOF 9
- 10. Lower Pair JointsLowerPair Joints (a) Revolute joint (b) Prismatic joint (c) Screw joint (d) Cylindrical joint (a) (b) (c) (d) D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 10
- 11. Lower Pair JointsLowerPair Joints D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R (e) Planar joint (f) Spherical joint (e) (f) 11
- 12. Link Parameters 1. Linklength – 𝑎 2. Twist angle – 𝛼 3. Joint angle – 𝜃 4. Link offset – 𝑑 12
- 13. Wrist Motion 1. Yaw– Rotary motion executed about 𝑧 axis. Causes movement in left and right directions. 2. Pitch – Rotary motion executed about 𝑦 axis. Causes movement in up and down directions. 3. Roll – Rotary motion executed about 𝑥 axis. 13
- 14. Wrist MotionWrist Motion Yaw Pitch Roll Robotwrist 𝑧 𝑦 𝑥 D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 14
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- 18. Robot’s Work Volume 1.The three dimensional space around the robot where it can sweep its wrist end within the points of maximum and minimum reach is called as Robot’s work Volume. 2. Maximum Reach is the point where the wrist end can go as far as possible from its base. 3. Minimum reach is the point where the wrist end can go as close as possible to its base. 18
- 19. Robot ReachRobot Reach Workenvelope Robot Endeffector Maximum reach Minimum reach Robot base D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 19
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- 21. Classification of Manipulator 1.Cartesian coordinate robot system 2. Cylindrical robot system 3. Polar robot system 4. Pendulum robot system 5. Articulated or Jointed arm robot system a) Horizontal axis jointed arm b) Vertical axis jointed arm 6. Multiple joint robot system 21
- 22. Cartesian Coordinate RobotSystem (a) (c) (b) (a) Cartesian coordinate robot system (b) Gantry style (area gantry) (c) Rectangular work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R Cartesian Coordinate Robot System 22
- 23. Cartesian Coordinate RobotSystem Animation 23
- 24. Cartesian Coordinate RobotSystem Animation 24
- 25. Cylindrical Robot SystemCylindricalRobot System D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R (a) Cylindrical robot system (b) Cylindrical work envelope 25
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- 27. Polar Robot SystemPolarRobot System (a) Polar robot system (b) Spherical work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 27
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- 29. Pendulum Robot SystemPendulumRobot System (a) Pendulum robot system (b) Partially spherical work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 29
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- 31. Horizontal Axis JointedArmHorizontal Axis Jointed Arm (a) Horizontal axis robot system (b) Spherical work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 31
- 32. Horizontal Axis JointedArm 32
- 33. Horizontal Axis JointedArm Animation 33
- 34. Vertical Axis JointedArmVertical Axis Jointed Arm (a) Vertical axis robot system (b) Cylindrical work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 34
- 35. Vertical Axis JointedArm 35
- 36. Vertical Axis JointedArm Animation 36
- 37. Multiple Joint RobotSystemMultiple Joint Robot System (a) Spine robot system (b) Spherical work envelope D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S S A B A R I G I R I V A S A N . R 37
- 38. Multiple Joint RobotSystem Animation 38
- 39. Manipulator Kinematics 1. Kinematicsdeals with the study of motion without considering the forces acting on the robot structure. 2. Forward Kinematics Required position and orientation is determined from a given set of joint angles. 3. Inverse Kinematics Joint angles of all joints in the arm are determined from the given position and orientation. 39
- 40. Translation Translation is thelinear displacement made by a point along a straight line about x, y or z axis. Rotation Rotation is the angular displacement made by a point about x, y or z axis. Homogeneous Transformation 40
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- 43. Manipulator Dynamics 1. Dynamicsdeals with the study of forces acting on the robot structure while it is in action. 2. Lagrange – Euler equation is formulated based on the kinetic and potential energies of the system. 3. Difference between the kinetic and potential energies of the system is known as Lagrangian function. 43
- 44. Disturbances Acting onthe Links 1. Action of gravity 2. Centripetal forces 3. Centrifugal forces 4. Coriolis forces 44
- 45. Robot Motion 1. Pointto point motion – The path has no importance. 2. Continuous path motion – The path taken is very important. 45
- 46. Trajectories 1. Path takenby the robot endeffector within the work volume is known as trajectory. 2. Trajectory planning. a) Joint interpolated trajectory planning. b) Cartesian path trajectory planning. 46
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