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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
 Robot Manipulator
1. Manipulator is 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.

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 Robotic Arm
Upper arm

Joint
Link
Lower arm
Power cable
Wrist
Motor Gripper mounting flange
Waist
Base

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 Types of Joints
Joints are 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.

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 Types of Joints

Link – 1 Link – 1

Joint
Joint
Link Link

(a) Rotary joint (b) Linear joint

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Types of Joints

Animation
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Types of Joints

Animation
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 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.

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 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
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 Lower Pair
Lower Pair Joints
Joints

(a) (b)

(a) Revolute joint

(b) Prismatic joint
(c) (d) (c) Screw joint
(d) Cylindrical joint

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 Lower Pair
Lower Pair Joints
Joints

(e) (f)

(e) Planar joint

(f) Spherical joint

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 Link Parameters
1. Link length – 𝑎
2. Twist angle – 𝛼
3. Joint angle – 𝜃
4. Link offset – 𝑑

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 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.

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 Wrist Motion

Robot wrist 𝑧
Yaw

Pitch
𝑦

𝑥 Roll

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Wrist Motion

Animation
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Wrist Motion

Animation
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Wrist Motion

Animation
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 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.

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 Robot Reach
Work envelope

Robot
Endeffector

Robot base
Maximum reach
Minimum reach

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Robot Reach

Animation
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 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

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Cartesian Coordinate Robot System

(a) (b)

(a) Cartesian coordinate

robot system
(b) Gantry style (area gantry)
(c) Rectangular work envelope
(c)
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Cartesian Coordinate Robot System

Animation
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Cartesian Coordinate Robot System

Animation
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 Cylindrical Robot System

(a) Cylindrical robot system (b) Cylindrical work envelope

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Cylindrical Robot System

Animation
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 Polar Robot System

(a) Polar robot system (b) Spherical work envelope

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Polar Robot System

Animation
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 Pendulum Robot System

(a) Pendulum robot system (b) Partially spherical

work envelope

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Pendulum Robot System

Animation
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 Horizontal Axis Jointed Arm

(a) Horizontal axis robot system (b) Spherical work envelope

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Horizontal Axis Jointed Arm

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Horizontal Axis Jointed Arm

Animation
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 Vertical Axis Jointed Arm

(a) Vertical axis robot system (b) Cylindrical work envelope

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Vertical Axis Jointed Arm

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Vertical Axis Jointed Arm

Animation
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 Multiple Joint Robot System

(a) Spine robot system (b) Spherical work envelope

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Multiple Joint Robot System

Animation
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 Manipulator Kinematics
1. Kinematics deals 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.

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 Homogeneous Transformation
Translation
Translation is the linear 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.

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Animation
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Animation
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 Manipulator Dynamics
1. Dynamics deals 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.
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Disturbances Acting on the Links
1. Action of gravity
2. Centripetal forces
3. Centrifugal forces
4. Coriolis forces

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 Robot Motion
1. Point to point motion – The path has no
importance.
2. Continuous path motion – The path taken
is very important.

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 Trajectories
1. Path taken by the robot endeffector within
the work volume is known as trajectory.
2. Trajectory planning.
a) Joint interpolated trajectory planning.
b) Cartesian path trajectory planning.

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End of the Presentation

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