Manipulator configuration and Mechanism

Universal
joint
An articulated manipulator, sometimes also called
a jointed, elbow, or anthropomorphic
manipulator. A manipulator of this kind typically
consists of two "shoulder" joints (one for rotation
about a vertical axis and one for elevation out of
the horizontal plane), an "elbow" joint (whose
axis is usually parallel to the shoulder elevation
joint), and two or three wrist joints at the end of
Shoulder joint the manipulator

Elbow joint

Kinematic diagram of an articulated manipulator system

Design parameters of Length of link

articulated manipulator L - length of the link

di -joint offset
ai-1- link length

Structural length index

The structural length index is defined as the ratio

of the manipulator's length sum to the cube root
of the workspace volume-that is,

L - length of the
manipulator
QL-structural length index
W-work space volume

QL = 0.62. This helps quantify our earlier statement

that articulated manipulators are superior to other
configurations in that they have minim intrusion
DH parameter table and joint coordinates system
into their own workspace.
 Workspace and gripper mechanism
Workspace volume

Gripper mechanism

Manipulability Inertia ellipsoid