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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 ...
Repeated joints may be summarized by their number; so that joint notation for the SCARA robot can also be written 2RP for example. Joint notation for the parallel Gough-Stewart mechanism is 6-UPS or 6(UPS) indicating that it is composed of six identical serial limbs, each one composed of a universal U, active prismatic P and spherical S joint.
The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain. Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains.
These leg mechanisms have applications in mobile robotics and in gait analysis. [3] [4] The central 'crank' link moves in circles as it is actuated by a rotary actuator such as an electric motor. All other links and pin joints are unactuated and move because of the motion imparted by the
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.
The JPL mobile robot ATHLETE is a platform with six serial chain legs ending in wheels. The arms, fingers, and head of the JSC Robonaut are modeled as kinematic chains. The movement of the Boulton & Watt steam engine is studied as a system of rigid bodies connected by joints forming a kinematic chain.
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 general, each joint of a linkage connects two links, and a binary link supports two joints. If we consider a hexagon constructed from six binary links with six of the seven joints forming its vertices, then the seventh joint can be added to connect two sides of the hexagon to form a six-bar linkage with two ternary links connected by one joint.