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Mechanisms, manipulators or robots are typically composed of links connected together by joints. Serial manipulators, like the SCARA robot, connect a moving platform to a base through a single chain of links and joints. In robotics the moving platform is called the 'end effector'.
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.
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.
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.
The movement of a body, or link, is studied using geometry so the link is considered to be rigid. [1] 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.