By Moshe Shoham (auth.)
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Extra resources for A Textbook of Robotics 2: Structure, Control and Operation
The formula for this work volume is as follows: The values represented in this formula are: VCYL = cylindrical robot work volume; = linear displacement of joint I (height of the cylinder) • = linear displacement of joint 2 (a quantity which, when added to L, 48 denotes the The mechanical arm radius of the outer volume accessible to the end effector); L = radius of the internal volume not accessible to the end effector. 29: The work volume of a cylindrical robot 49 Structure, Control and Operation Spherical Robot Work Volume The spherical robot carries out two rotary motions and one linear motion, which combine to form a spherical work volume.
Look at the schematic diagram in Figure 2-9, and the photographs in Figures 2-10 and 2-11. How many degrees of freedom do they have? 11 25 Structure, Control and Operation Most of today's robots have from four to seven degrees of freedom. Robots with less than four degrees of freedom are rarely seen today, and nearly no robots having eight or more degrees of freedom have been developed. Having learned to identify the types of robot joints and to calculate the number of degrees of freedom in a robot, we can now proceed to classify robots according to these data.
If we abbreviate P for prismatic joints and R for revolute joints, a robot with three linear degrees of freedom may be designated PPP. The axes of motion of a Cartesian robot are shown in Figure 2-12. The Cartesian structure is also used in machine tools, as illustrated in Figure 2-13. Figure 2-14 shows a third type of Cartesian robot, manufactured by Thermwood. 14: A Cartesian robot manufactured by the Thermwood Corporation 29 Structure, Control and Operation Cylindrical Robots A cylindrical robot possesses one rotary and two linear degrees of freedom.
A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)