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Module 1
Lecture 2: Robot Anatomy
Robot Anatomy
A typical robot
Joints
Links
Transmission system
Actuators
End-effector
Sensors
To controller
Two rigid binary links in space , source:T2 Open kinematic chain formed by the two links , source:T2
BITS Pilani, Goa Campus
Robot Anatomy : Links and Joints
Degrees of Freedom
- Number of independent motions allowed in a body
- A body in 3D has 6 degrees of freedom – 3 positions and 3
orientations
- Also the number of parameters required to specify the position and
orientation of the body in 3D
- Two free bodies have 6+6 = 12 degrees of freedom
Degrees of Freedom
- Joints impose constraints on
movement of links
- Types of joints
- Two links connected by a rotary joint—
6+1=7 DOF.
Wrist Configuration
- Mutually intersecting axes
- Used to orient the tool precisely
- Pitch, yaw, roll
Actuators
- Actuators are required to move joints, transmit power and do work
- Placed directly at the joints, or move joints through transmission
systems
- Desirable properties of an actuator:
- High power-to-weight ratio
- Small form factor
- Fast response
- Typical actuation mechanisms:
- Hydraulic actuators
- Pneumatic actuators
- Electric motors
Hydraulic actuators
- Components: Hydraulic fluid, reservoir, fluid line, seals and fittings,
hydraulic pumps, accumulators
- Provide joint motion through cylinders (linear motion), rotary vane
actuators (rotary motion), piston actuators (reciprocating motion) etc.
- Fluid is non-compressible (petroleum oil)– provides cooling of
components and lubrication
- Control is by means of solenoid valves
Hydraulic actuators
- High power to weight ratio (since pump, reservoir etc. are externally
placed and stationary)
- Large force applications -- up to 25 times more force than pneumatic
actuators of same size
Pneumatic actuators
- Similar to hydraulic actuators but working fluid is air
- Components: Compressor, reservoir, flow control valve, fluid line
Pneumatic actuators
- Easy to use in assembly lines since compressed air is usually
available
- Lower force capabilities than a hydraulic actuator
- Less expensive and less bulky compared to hydraulic actuators
- Air is compressible, so more difficult to control
Electric actuators
- Electric/electromagnetic actuators are widely used in robotics
- Actuations by means of electromagnetic induction
- Readily available in wide range of sizes, shapes, power and torque
range – linear and rotary actuators
- Mostly use DC power
- Rotary actuators:
- Stepper motors
- Servo motors
Actuators comparison:
Factor Electrical Hydraulic Pneumatic
1 Basic system Solid state logic, Power Pump, sump, regulators, Compressor, interstage coolers,
amplifiers, DC or AC motors, filters, heat exchangers, servo pressure controls, filter, dryers,
Gear boxes, Ball nuts, valves, motors, actuators, mufflers, valves, actuators
coolers accumulators
2 Working Electricity High quality oil base with Air, nitrogen, combustion products
principle additives, water based
solutions, synthetic liquids
3 Efficiency Over 90% for large systems Seldom over 60% Seldom over 30%
4 Susceptibility Low: Electrical line noise +/- High: Filters require special Intermediate: Less troublesome
to 10% handling during maintenance than oil, particles drop out before
contamination getting to valves, moisture
Actuators comparison:
Factor Electrical Hydraulic Pneumatic
6 Safety of Safest system: Electical Leakage of flammable fluids, Flying debris from ruptures,
operation shock and hazard to be velocity of jets explosions
considered
7 Temperature Low temperature sensitivity High temperature sensitivity Low temperature sensitivity, heat
sensitivity and in the operating range, poor due to viscocity changes. removal is not normally problem
heat removal heat dissipation Explicit heat exchangers are since systems vent to atmosphere
used
8 Input power 24Volts to 460 Volts 50-5000 PSI 5-500 PSI
supply
9 Load variation Dry friction on output motors Dry friction on outputs can Serious steady state errors can
susceptibility can cause small to cause small SS errors occur due to dry friction on output
intermediate steady state shaft
errors
10 System Reasonable stiff Stiffest out of three actuators Very soft system
stiffness
Non-conventional actuators:
- Shape Memory Alloys (SMA) – Nickel-Titanium Alloy
- Shape transformations when temperature goes above or below transformation
temperatures
Non-conventional actuators:
- Pneumatic Artificial muscles
- Closed elastomer membrane with braided external sheath–
when inflated, the membrane contracts!
- Displacement depends on the angle of winding and applied
pressure
- Electroactive Polymers (EAPs)– dielectric or ionic
- Dielectric: Elastic dielectric polymer is coated on either sides
with expandable film of conducting electrode. When voltage is Pneumatic Artificial Muscle
applied, dielectric film gets thinner
- Ionic: Uses ionic polymer gels, conductive polymers, carbon nanotubes etc
which generates movement of ions and hence, material deformation
- Photo-responsive actuators
- Visible light driven actuators made of liquid-crystal polymer
networks