Captulo 2

Grados de libertad

 Articulacion lineal o prismtica

 Articulacin de giro

 Articulacin planar: 2 lineales

 Articulacin cilindrica: 1 giro, 1 lineal

 Articulacin esfrica: 3 giros en planos

perpendiculares

 Robot articulado: grados de libertad

 Ejes de coordenadas

 Robot cartesiano

 Robot cilindrico

1 rotacin en la base
2 lineales

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 Robot esferico

2 rotaciones y 1 lineal

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 Robot articulado con 5 grados de libertad

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 Robot SCARA

2 rotaciones paralelas
1 lineal

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Historia...

A modern reconstruction of the Chinese Wood Cow tha was designed and built
since Vth century B.C. (from Ancient Chinese Machines Foundation at National Cheng
Kung University in Tainan).

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Historia...

An Arabic design of an automaton by Al-Jazari in XIIth century

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Historia...

a)

b)

The writer automata by Jaquet-Droz in 1760:

a) the robot shape; b) the mechanisms

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Historia...

a)

b)

The Japanese tea maidservant automaton whose design was developed in the
XVIIth century: a) a modern reconstruction; b) an original design scheme.

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Historia...

El pato de Jacques de Vaucanson (1709-1782)

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Historia...

Walking robots: a) Honda robot built in 1993; b) Waseda robot version

of 1997; c) EP-WAR built in 1996.
(Photos are taken from web pages

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