4. Joint Types
1- Prismatic joint where the pair of links makes
a translational displacement along a fixed axis. In
other words, one link slides on the other along a
straight line. Therefore, it is also called a sliding
joint.
2- Revolute joint where a pair of links rotates
about a fixed axis. This type of joint is often
referred to as a hinge, articulated, or rotational
joint.
6. Cylindrical Coordinates
The cylindrical robot consists of one revolute
joint and two prismatic joints, with r, Θ and z
representing the coordinates of the end-effecter.
8. SCALAR Type Robot
SCALAR robot consisting of two revolute joints and one prismatic joint.
This robot structure is particularly desirable for assembly automation in
manufacturing systems, having a wide workspace in the horizontal
direction and an independent vertical axis appropriate for insertion of
parts.
9. Articulated Robot
Articulated robot or an elbow robot, consists of all three revolute joints,
like a human arm. This type of robot has a great degree of flexibility
and versatility, being the most standard structure of robot manipulators.
11. Wrist articulations
Translation:
1- Moving up and down
2- Moving left and right
3- Moving forward and backward
Rotation:
4- Tilting forward and backward (pitching);
5- Turning left and right (yawing);
6- Tilting side to side (rolling)
13. Mechanical (ball screws, chain/belt, gears)
A ball screw is a mechanical linear actuator that translates rotational
motion to linear motion with little friction. A threaded shaft provides a
helical raceway for ball bearings which act as a precision screw.
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Vid. 2
14. Pneumatic System
is a section of technology that deals with the study and application of
pressurized gas to effect mechanical motion.
15. Advantages of pneumatics
Simplicity of Design And Control
Machines are easily designed using standard cylinders & other components.
Reliability
Pneumatic systems tend to have long operating lives and require very little
maintenance.
Because gas is compressible, the equipment is less likely to be damaged by shock.
The gas in pneumatics absorbs excessive force, whereas the fluid of hydraulics
directly transfers force.
Storage
Compressed gas can be stored, allowing the use of machines when electrical power
is lost.
16. Hydraulic System
A hydraulic drive system is a drive or transmission system that
uses pressurized hydraulic fluid to drive hydraulic machinery
