Lecture 3

Introduction to Robotics
Faculty of Artificial Intelligence

Prepared by
Dr.\ Emad A. Elsheikh
Faculty of Electronic Engineering,
Menoufia University.
 Robot Anatomy

Joints

End Effector
Links

Base

Ground
Robot Manipulator Parts
• Rigid Body
• In physics, a rigid body is a solid body in which deformation is zero or so small it can
be neglected.

• The distance between any two given points on a rigid body remains constant in time
regardless of external forces exerted on it.

– Rigid body – can be of any shape

• Block
• Disc/wheel
• Bar/member
• Etc.
Links and Joints
❖ Links:
▪ Are rigid or flexible members have at least two nodes (points of
attachment).
▪ Are the individual parts of the mechanism.
▪ They are considered rigid bodies and are connected with other
links to transmit motion and forces.
❖ Links:
 ❑Links
can be classified depending upon their type of connections into:

➢ Flexible link:
❑Links can be classified depending upon their type of connections into:
❖ Joints:
▪ Is a movable connection between links and allows relative motion between the links.
▪ Permits a particular degree of freedom (DOF).
▪ Conversely ( ‫ ) بالعكس‬a joint may be considered to restrict motion of links, i.e.,
reduce the number of degrees of freedom of a system of links.
▪ Each joint is connected to two links, an input link and an output link.

❑ The two primary joints, also called full joints,

1. Revolute joint
2. Sliding joint
❖ Joints:
❑ Revolute joint (pin or hinge joint) ‫( مفصل دوراني‬2D)

❑ Sliding joint (piston or prismatic joint) ‫( مفصل منزلق‬2D)

❖ Higher-order joint Joints : (3D)
🗍 Joints may allows for both rotation and sliding between the two
links that it connects.
🗍 Due to the complex motion permitted, it is called a higher-order
joint, also called half joint.
 Prismatic joints (P) have linear movements, there is no rotation involved.

They are either hydraulic, pneumatic cylinders or linear electric actuators.

Revolute joints (R) or Sphere (S) have rotary movements, most rotary joints are

electrically driven either by stepper motors or servomotors. Hydraulic and

pneumatic are also used.

 Nearly all industrial robots have mechanical joints that can be classified into
five types as shown in Figure.
Degree of Freedom & Mobility
 Degree of Freedom & Mobility

➢Degrees Of Freedom(DOF): is the number of independent inputs required

to precisely position all links of the mechanism with respect to the ground.

➢Degrees Of Freedom(DOF): the number of actuators needed to operate the

mechanism.

➢The number of degrees of freedom of a mechanism is also called the

mobility and it is given by symbol M.

 Degree of Freedom & Mobility

Degree of freedom
▪ Rotation about an axis
▪ Translation along a direction
▪ In our 3D-space we have
- 3 Rotations
- 3 Translations

The position and orientation of a rigid body in space is defined by three

components of translation and three components of rotation, which means that it has
six degrees of freedom.
 Degree of Freedom & Mobility

➢ Most linkages used in machines have one degree of freedom.

Example 1
Compute the degrees of freedom for the following.
Example 2
Compute the degrees of freedom for five link mechanism.
Example 3
Compute the degrees of freedom for Three link mechanism with One Higher
pair Link (Higher order joint).
 Degree of Freedom & Mobility

❑ Locked mechanisms :
Example 4
Compute the degrees of freedom for the following.
Robot Manipulator Parts and Configurations
 Robotic arm configurations:

For body-and-arm configurations, there are many different combinations possible for a
three-degree-of-freedom robot manipulator, comprising any of the five joint types.
Common body-and-arm configurations are as follows.
1) Polar coordinate arm configuration(RRP):

3 DOF polar arm configuration

2) Cylindrical coordinate arm configuration (RPP):

3 DOF cylindrical arm configuration

3) Cartesian coordinate arm configuration (PPP):

3 DOF Cartesian arm configuration

4) Jointed arm configuration (RRR) or articulated configuration:

3 DOF jointed arm configuration

 Robot Wrist:

▪ Roll (R) axis – involves rotation of the wrist mechanism about the arm axis.
▪ Pitch (P) axis – involves up or down rotation of the wrist.
▪ Yaw (Y)axis - involves right or left rotation of the wrist.

Robot wrist assembly consists of either two or three degrees of freedom. A typical three- degree-of-freedom wrist joint
is depicted in Figure
End