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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.
A prismatic joint is a one-degree-of-freedom kinematic pair [1] which constrains the motion of two bodies to sliding along a common axis, without rotation; for this reason it is often called a slider (as in the slider-crank linkage) or a sliding pair. They are often utilized in hydraulic and pneumatic cylinders. [2]
For example, joint notation for the serial SCARA robot is RRP, indicating that it is composed of two active revolute joints RR followed by an active prismatic P joint. Repeated joints may be summarized by their number; so that joint notation for the SCARA robot can also be written 2RP for example.
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR (revolute-spherical-spherical-revolute) spatial four-bar linkage.
Linear stage Gantry robot. Robots have mechanisms consisting of rigid links connected together by joints with either linear (prismatic P) or rotary (revolute R) motion, or combinations of the two. [4] [5] Active prismatic P and active revolute R joints are driven by motors under programmable control to manipulate objects to perform complex ...
The first industrial robot, [1] Unimate, was invented in the 1950s. Its control axes correspond to a spherical coordinate system, with RRP joint topology composed of two revolute R joints in series with a prismatic P joint. Most industrial robots today are articulated robots composed of a serial chain of revolute R joints RRRRRR.
MIT has created a robot arm that grips based on reflex and can adapt in real time to grab objects. The Robo-Gripper has proximity and contact sensors which allows it to react to surfaces near ...
The system of six joint axes S i and five common normal lines A i,i+1 form the kinematic skeleton of the typical six degree-of-freedom serial robot. Denavit and Hartenberg introduced the convention that z-coordinate axes are assigned to the joint axes S i and x-coordinate axes are assigned to the common normals A i,i+1.
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