Beach Cities

Robotics
Introduction to
Mechanisms
June 4, 2007

Daniel Braley, ATP Mechanical Test Engineer

Northrop Grumman Corporation

Outline
Lift Concepts:
Scissor Lifts
Rotary Jointed Arms
Pneumatic Arms
4 Bar Mechanism
Telescoping Lifts
Cables & Pulleys
Combined Systems

Scissor Lifts
Overview
The scissor lift is unique in that it doesn't use a straight support to raise workers or
objects into the air. Rather, the scissor lift platform raises when the linked, folding
supports underneath it draw together, stretching it upward. It can be powered by
hydraulics or an electric motor, but it's a bumpy ride to the top. The scissor lift's design
keeps it from traveling with a constant velocity, instead traveling faster in the middle of
its journey and slower with more extension.
Pros
The max height of the platform is flexible
The height is determined by the number and
length of the linkages
Great for straight lifts
Can be used in a robotic arm to reach out straight
Cons
Requires great force to get the lift started
Synchronizing two scissors is difficult
Complex design

Rotary Jointed Arms

Overview
Rotary Jointed Arms work on the basic principle of the human arm. They have a wrist,
a shoulder, and an elbow. Depending on what the robotic arm is used for, a gripper,
like that of a hand can be added to the end of the arm, and ultimately give the user 3
axes of motion, generally referred to as pitch, yaw, and roll.
Pros
Allows for 3 axes of motion
Can emulate the human arm
Great idea when gripping objects is
required
Cons
Large moments can develop at the
shoulder and base plate, which can
ultimately lead to failure of the joint.

A motor is required at each joint, and

each has to be operated
independently

Programming a system to work on

several independent motors can be
quite tricky

Pneumatic Arms
Overview
The figure below is of a Lego Mindstorms Pneumatic Arm. The base of the robot
contains the control unit, ultimately made up of a battery pack, a compressor, and
command switches. The compressor is based on two small pumps, working in
opposition. The pumps are driven by two fast and powerful monkey motors. A small
piston, loaded by two rubber belts, moves an electric switch when pressure is too high,
and the compressor motors are then switched off.
Pros

Allows for 3 axes of motion

Can emulate the human arm
Great idea when gripping objects is
required
The pistons often counteract the large
moments of a heavy robotic arm and help
to support the weight of the arm.
The use of compressed air and pistons
allows for a high degree of control and
precision

Cons

Very complicated system

Many moving parts
A single air leak can shut down the robot
A piston is required at each joint, and each
has to be operated independently
Programming a system to work on several
independent pistons can be quite tricky
Binary positioning

4 Bar Lifting Mechanism

Overview
The 4 bar mechanism is simple and effective. The opposite bars always remain
parallel retaining the orientation of the object. Many industrial robots use this
mechanism.

Pros
Simple
Object retains orientation
1 joint to power
Easily programmed
Provides reach
Cons
Large moments can develop at
the joint location
Required to lift outside of the
box
Can be vulnerable to side hits

Telescoping Lift
Overview
Telescoping lifts are most commonly used within forklifts and cranes. They extend in
one direction and are usually powered by a chain or piston.
Pros

Extends within the box

Mechanism protected by the base
Generally operates on a fairly
uncomplicated electrical system
Only requires one power source

Cons

Multiple segments translate up, resulting in

a higher center of gravity
Can become complex

Cables & Pulleys

Overview
In robotics, cables and pulleys are most often used as a hoisting mechanism, or for
lowering and raising an object from an arm. Cables and pulleys can also be used as a
simple alternative for the main drive mechanism of an arm, but tend to limit the range
of motion and control of the arm.

Pros

Very simple and easy to assemble

Great idea for when hoisting an object is
required
Lightweight
Great idea for lowering an object from a
robot

Cons

Tend to limit the range of motion

Control is limited
If the cable slips out of the pulley, the
mechanism fails
If the cable snaps, the mechanism fails

Combined Mechanisms

Overview
When one system doesnt cut it, combining the mechanisms might help. You may
need reach, but the 4 bar doesnt reach that high. Attaching a 4 bar to a telescoping lift
might be your answer.

Pros
Combines the pros of the various
mechanisms
Cons
Complex

References
1) http://www.genieindustries.com/gs-series/gs-1930.asp
2) Smart Robots: A Handbook of Intelligent Robotic
Systems. By V. Daniel. Hunt
3) Handbook of Advanced Robotics. By Edward L. Safford
4) http://www.philohome.com/pneumarm/pneumarm.htm
5) http://www.eng.fsu.edu/ciscor/research_highlights.htm
6) http://www.packworld.com/view-21261
7) http://teamster.usc.edu/~fixture/Robotics/Course.htm