Disadvantages%20of%20Spherical/Polar

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Disadvantages of Spherical/Polar
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Revolute Coordinate System
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Revolute (Joined-Arm) Coordinate System
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Revolute (Joined-Arm) Coordinate System
alpha - Axis
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Revolute (Joined-Arm) Coordinate System
? - Axis
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Revolute (Joined-Arm) Coordinate System
gamma - Axis
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Revolute (Joined-Arm) Coordinate System
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Jointed Arm
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Advantages of Articulate/Jointed Arm/Revolute
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Disadvantages of Articulate/Jointed Arm/Revolute
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SCARA
A combination of the articulated arm and the
cylindrical robot
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Illustration of DOF of Revolute Coordinate System
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Degrees of Freedom
VS
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Degrees of Freedom

• Rotating the base.

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Degrees of Freedom

• Pivot the base of the arm.

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Degrees of Freedom

• Bending the elbow.

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Degrees of Freedom

• Wrist up and down.

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Degrees of Freedom

• Wrist left and right.

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Degrees of Freedom

• Rotating the wrist.

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Classification Based on Number of joints or
degrees of freedom
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Industrial Robot Designs

• Principal Elements of industrial robots

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Working Area of Industrial Robots

• Mechanics/Kinematics
• Kinematics concepts of a 3-axis industrial robot
  and the resulting work area.

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Classification of Industrial Robots
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Grippers and Controls of Industrial Robots
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Drives, Feedback and Sensors of Industrial Robots
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Basic Robot Motions and DOF of industrial robots
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Arm and Body Motions

• Vertical Traverse
• up-and-down motions of the arm,
• caused by pivoting the entire arm about a
  horizontal axis or moving the arm along a
  vertical slide
• Radial Traverse
• extension and retraction of the arm (in-and-out
  movement)
• Rotational Traverse
• rotation about the vertical axis (right or left
  swivel of the robot arm)

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Wrist Motions
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Basic Motions
Rotational traverse
vertical traverse
Wrist bend
radial traverse
Wrist Swivel
Wrist yaw
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Robot Motion Characteristics
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Robot Motion Characteristics
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Additional Technical Features