# The Robotic Arm - PowerPoint PPT Presentation

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## The Robotic Arm

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### The Robotic Arm From your friendly neighborhood Allie! Degrees of Freedom Each degree of freedom is a point or joint in a robot arm that allows it to bend ... – PowerPoint PPT presentation

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Title: The Robotic Arm

1
The Robotic Arm
• From your friendly neighborhood Allie!

2
Degrees of Freedom
• Each degree of freedom is a point or joint in a
robot arm that allows it to bend, translate and
rotate.
• When building something like a robot arm you want
very few degrees of freedom (mainly due to cost)
• Encoders!!!

3
Encoders
• A type of sensor thats attached to the joint or
rotating object that measures rotation.
• The most common encoders use optical sensors
• Why? Well Ill tell you why! When you use
encoders your robots will be able to determine
things like its velocity, acceleration and such!
• Down side? The X-TREAM math.

4
Denavit-Hartenberg Convention (DH)
• Free Body Diagrams (FBD)
• Only two motions, translate and rotate
• Only X, Y and Z axis
• The effector (hand/claw,clamp,hook, ect.) usually
has many DOF, so on simple diagrams like these
its just a symbol with no real meaning

5
Robot Workspace
• Also known as reachable space
• Depends on the lengths of the arm links, the DOF
angle/translation limitations, the angle at which
something is picked up and so on!
• When the arm is fully stretched out, all the
places the effectors (claps) can reach.

6
Workspace Examples
• Why, would you look at these excellent examples
of work space!

7
More FBD Examples!
8
(No Transcript)
9
Oh GOLLY! More FBDs?
10
Work Time!
• Alright, your job! Find pictures of three robotic
arms. One with three DOF, one with four DOF and
one with five DOF. When youve done that make an
FBD for each picture! Oh and why not calculate
the workspace for each picture as well! YAY!
• Remember that the end effector doesn't count!