By Moshe Shoham (auth.)
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Additional resources for A Textbook of Robotics 2: Structure, Control and Operation
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. 25: A schematic diagram of the Prab robot (above) showing the axes of motion 39 Structure, Control and Operation We will cover three broad characteristics: mechanical rigidity, ease of control, and work envelope as it affects work volume. Mechanical Rigidity The mechanical rigidity of a structure is a measure of the extent to which it is distorted by loads acting on it.
In the following sections, we will compute 46 The mechanical arm the work envelopes of the various types of robots and compare them. To form a basis for comparison, we will make three assumptions: * * * All robot links will be of a standard length, L. The extent of linear motion of all prismatic joints is equal to A. All revolute joints can rotate 3600. 28: The work volume of a Cartesian robot 47 Structure, Control and Operation Cartesian Robot Work Volume The Cartesian robot executes three linear motions on three perpendicular axes.
Therefore, we can conclude that this arm has three degrees of freedom, two of them rotary and one linear. look at the schematic diagram in Figure 2-9, and the photographs in Figures 2-10 and 2-11. How many degrees of freedom do they have? 11 25 Structure, Control and Operation Most of today's robots have from four to seven degrees of freedom. Robots with less than four degrees of freedom are rarely seen today, and nearly no robots having eight or more degrees of freedom have been developed. Having learned to identify the types of robot joints and to calculate the number of degrees of freedom in a robot, we can now proceed to classify robots according to these data.
A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)