Day 2.2 - Common Manipulator Arrangements Articulated...

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Revolute Joint Variable 1/17/2011 6 Symbolic Representation of Manipulators revolute q i = q i : angle of rotation of link i relative to link i – 1 link i – 1 link i i
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Prismatic Joint Variable 1/17/2011 7 Symbolic Representation of Manipulators prismatic q i = d i : displacement of link i relative to link i – 1 link i – 1 link i d i
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Common Manipulator Arrangments 1/17/2011 8 most industrial manipulators have six or fewer joints the first three joints are the arm the remaining joints are the wrist it is common to describe such manipulators using the joints of the arm R: revolute joint P: prismatic joint
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Unformatted text preview: Common Manipulator Arrangements Articulated Manipulator 1/17/2011 9 RRR (first three joints are all revolute) joint axes z : waist z 1 : shoulder (perpendicular to z ) z 2 : elbow (parallel to z 1 ) Common Manipulator Arrangements z z 1 z 2 waist shoulder elbow forearm q 1 2 3 Spherical Manipulator 1/17/2011 10 RRP Stanford arm http://infolab.stanford.edu/pub/voy/museum/pictures/display/robots/IMG_2404ArmFrontPeekingOut.JPG Common Manipulator Arrangements z z 1 z 2 waist shoulder q 1 2 d 3...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 2.2 - Common Manipulator Arrangements Articulated...

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