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PUMA 560 C robot arm segment measurements. [4] 6 Axis arm with 3 axis making up a spherical wrist. [5] Maximum reach 878mm from center axis to center of wrist [5] Software selectable payloads from 4 kg to 2.5 kg [5] Arm weight: 83 kg (approximate) [6] Repeatability ±0.1mm [7] 2.5 kg max velocity: 500mm/sec straight line moves [7]
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot ) or translational (linear ...
Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot. A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom.
Victor Scheinman's MIT Arm, built for MIT's Artificial Intelligence Lab ca. 1972, the first arm designed with a 321 kinematic structure. 321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms.
The SCARA is a type of industrial robot. The acronym stands for selective compliance assembly robot arm [1] or selective compliance articulated robot arm. [2] By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the Z direction, hence the term selective compliance. This is ...
This is a wrist about which the three axes of the wrist, controlling yaw, pitch, and roll, all pass through a common point. An example of a wrist singularity is when the path through which the robot is traveling causes the first and third axes of the robot's wrist (i.e. robot's axes 4 and 6) to line up.