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Chapter 3, Robot Anatomy An Components
Chapter 3, Robot Anatomy An Components
Robot Manipulator
Robot Other Components
■ Monitoring parameters within the robot and in the environment (a feedback to be used
by the control loops to detect potentially ( )محتملةhazardous situations, to verify that the
task has been performed correctly, and to construct a world model).
■ Robot arm - joints provide either linear or rotary movement; driven by linear or rotary
actuators.
■ The arm joints are used to position the end effector.
■ The wrist joints are used to orient the end effector.
Due to their rigid structure they can manipulate high loads so they
are commonly used for pick and-place operations, machine
tool loading, in fact any application that uses a lot of moves in
the X,Y,Z planes. These robots occupy a large space, giving a
low ratio of robot size to operating volume. They may require
some form of protective covering.
■ Tools are used in applications where the robot must perform some
processing operation on the work-part.
■ As working machines, robots have defined job duties and carry all the
tools they need to accomplish their tasks onboard ( )متنtheir bodies.
■ Many robots carry their tools at the end of a manipulator.
■ In each case, the robot must not only control the relative position of the
tool with respect to the work as a function of time, it must also control
the operation of the tool.