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

By Moshe Shoham (auth.)

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Extra info for A Textbook of Robotics 2: Structure, Control and Operation

Example text

With an increasing number of rotary degrees of freedom - or, in fact, of the total number of degrees of freedom - the computations become more and more complex. Obviously, then, the simplest computations are those required by Cartesian robots, and the most complex are those required by vertical articulated robots. As stated above, this will be discussed in detail later in this book. 27A: Calculation of the moment required for a spherical robot to lift a given load at a constant velocity (here L1 = 1 metre) 42 The mechanical arm The second factor affecting control is the fact that moments and moments of inertia do not al ways remain constant throughout the work envelope.

Robot motion has a number of mechanical limitations. For example, almost all revolute joints of most robots are incapable of 3600 rotation. Being able to move the end effector to every point in the work envelope is not enough; the end effector must be able to reach the desired points 55 Structure, Control and Operation with the proper orientation or direction. While the change of position of the end effector is enabled by the first three joints, a change in orientation in the same position is permitted by additional joints.

30: The work volume of a spherical robot 50 The mechanical arm If L is the length of the robot arm when the third link is "telescoped" inside the second link, and A is the extent of motion of the prismatic joint, then the work volume of the spherical robot is a hollow sphere. IT{(L+A)3_L3} 3 In this formula, Vs is the work volume of a spherical robot. L = radius A = linear of the inner sphere not accessible by the end effector displacement of the prismatic joint Horizontal Articulated Robot Work Volume The horizontal articulated robot carries out two rotary motions and one linear motion.

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