Search results
Results from the WOW.Com Content Network
To determine the coordinate transformations [Z ] and [X ], the joints connecting the links are modeled as either hinged or sliding joints, each of which has a unique line S in space that forms the joint axis and define the relative movement of the two links. A typical serial robot is characterized by a sequence of six lines S i (i = 1, 2 ...
Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic versions of the joints of the mechanism or machine. [1] For example, the figures show the kinematic diagrams (i) of the slider-crank that forms a piston and crank-shaft in an engine, and (ii) of the first three joints for a PUMA manipulator.
Line representations in robotics are used for the following: They model joint axes: a revolute joint makes any connected rigid body rotate about the line of its axis; a prismatic joint makes the connected rigid body translate along its axis line. They model edges of the polyhedral objects used in many task planners or sensor processing modules.
In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. [1] [2] The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation.
It is a robot whose arm has at least three rotary joints. Parallel robot: One use is a mobile platform handling cockpit flight simulators. It is a robot whose arms have concurrent prismatic or rotary joints. Anthropomorphic robot: It is shaped in a way that resembles a human hand, i.e. with independent fingers and thumbs.
Kinematic parameters describe the relative position and orientation of links and joints in the robot while the dynamic parameters describe arm and joint masses and internal friction. [3] Non-parametric robot calibration circumvents the parameter identification. Used with serial robots, it is based on the direct compensation of mapped errors in ...
A model of a robotic arm with joints. In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes. [1]The common normal can be used to characterize robot arm links, by using the "common normal distance" and the angle between the link axes in a plane perpendicular to the common normal. [2]
When controlled motors actuate the linkage, the whole system (a mechanism and its actuators) becomes a robot. [4] This is usually done by placing two servomotors (to control the two degrees of freedom) at the joints A and B, controlling the angle of the links L2 and L5. L1 is the grounded link.