Template for the Storyboard stage

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Template for the Storyboard stage
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Animation Medium 2D Software JAVA
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Mention what will be your animation medium 2D or
3DMention the software to be used for animation
development JAVA, Flash, Blender, Shikav,
Maya..etc
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2R MANIPULATOR IN ROBOTICS SUBJECT MECHANICAL
ENGINEERING NAME PROF P S GANDHI
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Title of the concept, subject. Name of the author
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2 R Manipulator It is 2 DOF planar manipulator
with revolute pairs DOF (Degree of Freedom)
The number of independent movements that an
object can perform in 3-D Space R ( Revolute
Pair) Shown below ( DOF 1)?

Revolute Joint ( disassemble view)?
Revolute Joint ( assemble view)?
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Definitions of the keywords used in the animation
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• 2R manipulator is shown below
• L1 L2 Lengths of Link 1 Link 2
  respectively
• A End Effector ( Consider it as end point)?
• R Revolute Pairs ( or joints)?
• J1 J2 Joints

A
Y
Radius L1-L2
Radius L1L2
L2
Link 2
J2
R
L1
X
Link 1
J1
R
Manipulator
The Workspace of 2DOF planar manipulator
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Work Space Shown in last slide. - It
represents the portion of space around the base
of manipulator that can be accessed by the arm
endpoint. - The shape and size of the
workspace depends on the arm configuration,
structure, degrees of freedom, size of links, and
design of joints - Here consider only plane
portion ( i.e. 2D)? - It depends upon joints
and Link Lengths. - Last Slide gtgt work space
gt - Outer circle radius L1 L2
- Inner circle radius L1 L2
- Joint 1 (J1) revolute type -
Joint 2 (J2) revolute type ( Above
values will be user defined to work in required
work space)?
If we change L1 /or L2, we can get different
work spaces
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• 2 R manipulator can have an interactive
  animation
• gtgt For example the end point of the
  manipulator can be moved by cursor and the link
  would position themselves in various ways to
  satisfy the end point constraint.

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Describe the concept chosen and clearly
illustrate how you want to explain the concept
in the animation.
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• Let us consider 2R manipulator

• Here End Point A is required to be moved by
  cursor.
• Initially on desktop there will be a manipulator
  (like slide 7).
• As shown below, we (user) should be able to
  select point A representing end point. When
  user move this point to required positions like 1
  2 within workspace automatically respective
  links 1 2 will take required positions as shown
  in below figure.
• Workspace can also vary by changing L1 L2 (
  explained in slide 8)?

1
2
A
ß
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Manipulator
a
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1. User can able to change workspace by changing
   respective values.
2. By simply moving cursor, user can select an end
   point.
3. User should able to move manipulator by selecting
   end point within workspace.
4. User should able to check angles of links with
   respect x-y coordinate.

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List out user interactions that will be there to
enhance the understanding of the concept in the
animation.
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After going thru this animation, the viewer
should be able to answer simple questions like
1) What is DOF? A) Slide 6 2) Concept of
workspace? A) Slide 7 8
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A small questionnaire with answers based on the
concept.
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• http//nptel.iitm.ac.in/
• - link - NPTEL coursesgtgtMechanical
  Engg.gtgt Robotics(web)gtgtIntroduction
• http//cs54.wikidot.com/mechanisms
• http//www.robotmatrix.org/RoboticSpecification.ht
  m

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Links for further reading/references
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1. Audio support required. 2. Colour changes to
be shown. 3. Clear Demonstration 4. Theory will
come in the left panel of the animation or in
response to pressing a 'Theory' button. 5.
Keywords should come in 'Glossary' section. 6.
'Help' button should give stepwise instruction of
how to operate the animation. (User
Friendly Desktop)?
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Further User Specification