A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

By Moshe Shoham (auth.)

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Extra resources for A Textbook of Robotics 2: Structure, Control and Operation

Sample text

20: A horizontal articulated robot manufactured by Seiko 34 The mechanical arm By comparing Figure 2-20 with Figure 2-18, you will understand the difference between a horizontal articulated robot and a spherical robot. Vertical Articulated Robots A vertical articulated robot is one with three rotary degrees of freedom; its designation, therefore is RRR. 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.

Cylindrical Robot Work Volume The cylindrical robot executes one rotary motion and two linear motions. Figure 2-29 shows the motions and work volume of a cylindrical robot. The work volume of this type of robot is a hollow cylinder (as shown in Figure 2-29). The formula for this work volume is as follows: The values represented in this formula are: VCYL = cylindrical robot work volume; = linear displacement of joint I (height of the cylinder) • = linear displacement of joint 2 (a quantity which, when added to L, 48 denotes the The mechanical arm radius of the outer volume accessible to the end effector); L = radius of the internal volume not accessible to the end effector.

It is true that the moments (forces) exerted on the motors of Cartesian robots carrying defined loads at constant rates of speed remain unchanged at all points of the work envelope. However, this is not the case with other types of robots. For example, let us compute the moment required to lift a given load at a constant velocity, by means of the spherical robot shown in Figure 2-27A. 81m/sec 2 = gravity L = distance ~ = mass of the ann; constant; between the gripper and the axis of rotation of the joint; of the load.

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