## A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.) PDF

By Moshe Shoham (auth.)

ISBN-10: 1461598885

ISBN-13: 9781461598886

ISBN-10: 1461598907

ISBN-13: 9781461598909

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**Example text**

Vertical Articulated Robot Work Volume The vertical articulated robot carries out three rotary motions. Figure 2-32 illustrates the motions and work envelope of a vertical articulated robot. 32: The work volume of a vertical articulated robot 53 Structure, Control and Operation Let us designate the lengths of the vertical articulated robot links as Ll and L2' as in Figure 2-32. Again, in spite of the assumptions and comparisons drawn above, in which all links were taken as equal, the present section discusses cases where Ll is not equal to L2' in order to present all possible work volume shapes for this type of robot.

31B: The work volume of a horizontal articulated robot Let us designate the extent of motion of the prismatic joint by A, and the lengths of the links as L1 and L2. In spite of the assumptions and comparisons made above, in which all links were taken as equal, the present section discusses cases where L1 and L2 are not equal, in order to present all possible work volume shapes for this type of robot. Assuming that the revolute joints are capable of 360P rqtation, the work envelope will be in the shape of a cylinder - hollow if L2 is smaller than Ll , and solid if L2 is equal to or greater than L1• The equations describing cylinders, respectively are: the hollow and solid VHA = TIA{(L 1 + L2)2 - (L1 - L2)2} VHA = TIA(L 1 + L2)2 52 The mechanical arm In these formulas, VHA is the work volume of a horizontal articulated robot.

This is an extremely common concept in robotics. The number of degrees of freedom which a robot has, by definition, equals the number of independent axes of motion along which links can be moved (by means of prismatic joints), or on which links can be rotated (by means of revolute joints). 9: This robot arm also has three axes 23 Structure, Control and Operation We will now try to calculate the number of degrees of freedom of the arm shown in Figure 2-8. 10 24 The mechanical arm From Figure 2-8, it is obvious that links can be rotated about axis 1 and about axis 2.

### A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

by Daniel

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