Sycobrain Study Material ROBOT ANATOMY

ROBOT ANATOMY


ROBOT ANATOMY

The ROBOT ANATOMY of Industrial Robots deals with the assembling of outer components of a robot such as a wrist, arm, and body. Before jumping into Robot Configurations, here are some of the key facts about robot anatomy.

  • Manipulator consists of joints and links
  • Joints provide relative motion
  • Links are rigid members between joints
  • Various joint types: linear and rotary

Each joint provides a “degree of freedom” Most robots possess five or six degrees of freedom.

The robot manipulator consists of two sections:

Body-and-arm- for positioning of objects in the robot’s work volume. Wrist assembly for orientation of objects

 

Nearly all industrial robots have mechanical joints that can be classified into the following five types:


a) Linear joint (type L joint)

The relative movement between the input link and

the output link is a translational sliding motion, with the axes of the two links being parallel.

 

b) Orthogonal joint (type U joint)

 

This is also a translational sliding motion, but the input and output links are perpendicular to each other during the move.


c) Rotational joint (type R joint)

 

This type provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links.

 

d) Twisting joint (type T joint)

 

This joint also involves rotary motion, but the axis of rotation is parallel to the axes of the two links.

 

e) Revolving joint (type V-joint, V from the “v” in revolving)

 

In this type, the axis of the input link is parallel to the axis of rotation of the joint. However, the axis of the output link is perpendicular to the axis of rotation