Fayoum University

Faculty of Engineering
Mechatronics Engineering Department

Robotics

Introduction – Part 2

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Common open kinematic chain manipulators:
• Cartesian and Gantry manipulator.
• Cylindrical manipulator
• Spherical manipulator
• SCARA manipulator (Selective Compliance Assembly Robot Arm)
• Anthropomorphic manipulator

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Cartesian Manipulator

• 3 prismatic
joints
• Has a box
shaped
workspace

3
Gantry Manipulator

• 3 prismatic
joints
• Has a box
shaped
workspace

4
Cylindrical Manipulator

• 1 revolute joint + 2 prismatic

joints
• Has a cylinder shaped
workspace

5
Spherical Manipulator

• 2 revolute joints + 1
prismatic joint.
• Has a spherical
workspace

6
SCARA Manipulator

• 2 revolute joints + 1
prismatic joint.
• Has a cylindrical
shaped workspace

7
Anthropomorphic Manipulator

• 3 revolute joints.
• Has a spherical
workspace

8
Closed kinematic chain manipulators
• Advantages:
• Have a higher
stiffness  more
accurate
positioning.
• Can carry heavier
loads with
moderate robot
weight.

9
Closed kinematic chain manipulators
• Disadvantages:
• More complicated
mechanical
structure
• Limited workspace
• More complicated
mathematical
model

10
Mobile robots
• Unmanned ground
vehicle (UGV)
• Wheeled
• Legged
• Unmanned aerial
vehicle (UAV)
• Underwater
vehicle

11
Components of a robotic system
• Mechanical structure
A robot designer should design and build its mechanical structure,
and find a mathematical model for it that relates the joint
variables to the end effector pose (position and orientation).
• Planning
A robot designer should plan the robot motion to follow a given
trajectory and/or move from one pose to another.
• Control
The robot designer should design a controller that calculates the
actuated joint angles to achieve the required end-effector motion.
12
Hardware Components of a robotic system
• Links
They are rigid bodies with specific shapes to achieve the motion required.
• Joints
Mechanical components that allow relative motion between two links.
• Joint actuators
electrical / pneumatic / hydraulic actuators that move the joints.
• Sensors
they help in planning the end-effector trajectory and controlling the robot
accurately. Examples include:
• Joint variable sensors
• Force sensors at the end effector and/or joints.
• Vision sensors (camera / LIDAR / RGB-D cameras)
• Processing unit

13
Robot classification by application
• Industrial robots
Fixed (mounted in the environment). They are designed to act
accurately and fast.
• Field robots
Mobile (wheeled or legged). They are designed to be intelligent
enough to move in unstructured environments.
• Service robots
Mobile, They are designed to be safe and intelligent to interact
with humans and act in homes / restaurants / offices.

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 The End

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