ROBOTIC ARMS

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ROBOTIC ARMS

• Gateway Coalition - WSU
• Rahul K. Shah

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FUNDAMENTALS

• MECHANICAL MANIPULATOR
• Can perform a variety of tasks
• also called an industrial robot
• CONSTRUCTION PARTS
• Non-moving Base/Frame
• Links
• position and orientation depends on the
  co-ordinate system
• Joints
• allow motion of neighboring links
• can be rotary, sliding or prismatic

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FUNDAMENTALS

• CONSTRUCTION PARTS (contd.)
• End-Effector
• in our case it will be the Gripper
• TERMINOLOGY
• Workspace
• area within the reach of a manipulator
• Tool Frame
• gives the position of the manipulator w.r.t the
  Base Frame

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FUNDAMENTALS

• TERMINOLOGY (contd.)
• Jacobian
• matrix quantity which helps with velocity
  analysis using Mapping
• Joint Torques
• These are to be calculated whenever there is a
  contact with another object or the need of
  applying a static force arises

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FUNDAMENTALS

• TYPES OF CONTROLS
• Linear position control
• Nonlinear position Control
• Force Control
• All of the above need to be programmed via a
  robot programming language.

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SPECIFICATIONS

• An example of standard specifications

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5-AXIS ROBOTS
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CONCERNS

• Typical Weight to Payload ratio - 12-26
• An arm this heavy is going to affect the
  performance of the wheelchair.
• Size of links due to the size of motors.
• Typically around 4 to 5 in.

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QUESTIONS AND COMMENTS??