Day 2_Part_1 - like a piston allows relative translation...

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Day 02 Introduction to manipulator kinematics 1/17/2011 1
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Robotic Manipulators 1/17/2011 2 a robotic manipulator is a kinematic chain i.e. an assembly of pairs of rigid bodies that can move respect to one another via a mechanical constraint the rigid bodies are called links the mechanical constraints are called joints Symbolic Representation of Manipulators
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A150 Robotic Arm 1/17/2011 3 Symbolic Representation of Manipulators link 3 link 2
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Joints 1/17/2011 4 Symbolic Representation of Manipulators most manipulator joints are one of two types 1. revolute (or rotary) like a hinge allows relative rotation about a fixed axis between two links axis of rotation is the z axis by convention 2. prismatic (or linear)
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Unformatted text preview: like a piston allows relative translation along a fixed axis between two links axis of translation is the z axis by convention our convention: joint i connects link i – 1 to link i when joint i is actuated, link i moves Joint Variables 1/17/2011 5 Symbolic Representation of Manipulators revolute and prismatic joints are one degree of freedom (DOF) joints; thus, they can be described using a single numeric value called a joint variable q i : joint variable for joint i 1. revolute q i = q i : angle of rotation of link i relative to link i – 1 2. prismatic q i = d i : displacement of link i relative to link i – 1...
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Day 2_Part_1 - like a piston allows relative translation...

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