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  • Robot Joints and Work Volume

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    Sunidhi Gupta
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    The document discusses the components of robot joints and their degrees of freedom. It describes different types of joints like prismatic, revolute, cylindrical, and spherical joints. It also discusses the concept of work volume which depends on the task and number of degrees of freedom required. The document presents different robot configurations like Cartesian, cylindrical, spherical, planar, articulated, and SCARA robots. It raises questions about deciding optimal link lengths and velocities for robot control.

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    The document discusses the components of robot joints and their degrees of freedom. It describes different types of joints like prismatic, revolute, cylindrical, and spherical joints. It also discusses the concept of work volume which depends on the task and number of degrees of freedom required. The document presents different robot configurations like Cartesian, cylindrical, spherical, planar, articulated, and SCARA robots. It raises questions about deciding optimal link lengths and velocities for robot control.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    23 views19 pages

    Robot Joints and Work Volume

    Uploaded by

    Sunidhi Gupta
    The document discusses the components of robot joints and their degrees of freedom. It describes different types of joints like prismatic, revolute, cylindrical, and spherical joints. It also discusses the concept of work volume which depends on the task and number of degrees of freedom required. The document presents different robot configurations like Cartesian, cylindrical, spherical, planar, articulated, and SCARA robots. It raises questions about deciding optimal link lengths and velocities for robot control.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 19

    Robot Joints and

    Work Volume

    Dr. Ashish Dutta


    Professor, Dept. of Mechanical Engineering
    Coordinator, Centre for Mechatronics
    Indian Institute of Technology Kanpur, INDIA
    Components of a Robot

    Robot arm = links + joints + sensors +


    actuators
    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
    Prismatic joint : DOF 1

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Revolute (DOF 1) / Cylindrical joint (DOF 2)

    Fig. Revolute Fig. Cylindrical

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Spherical joint : DOF 3

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Why controlling a spherical joint is difficult

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Work Volume

    How many DOF must a robot have – it depends on


    the task .

    Volume inside which the robot can position its


    gripper.

    The job to be performed must be inside the work


    volume.

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    How many DOF for a simple Pick and Place task

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Does it depend on the shape of the object and
    task ?

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Cartesian robot

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Cylindrical robot

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Spherical robot

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    2 DOF planer arm

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Articulated

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    SCARA

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    How to decide

    Optimal Link lengths? (for humans ??)

    Link velocities during control ??

    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA


    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
    Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

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