Search results
Results From The WOW.Com Content Network
Line representations in robotics are used for the following: . They model joint axes: a revolute joint makes any connected rigid body rotate about the line of its axis; a prismatic joint makes the connected rigid body translate along its axis line.
A prismatic joint is a one-degree-of-freedom kinematic pair [1] which constrains the motion of two bodies to sliding along a common axis, without rotation; for this reason it is often called a slider (as in the slider-crank linkage) or a sliding pair. They are often utilized in hydraulic and pneumatic cylinders. [2]
It is a robot whose arm has at least three rotary joints. Parallel robot: One use is a mobile platform handling cockpit flight simulators. It is a robot whose arms have concurrent prismatic or rotary joints. Anthropomorphic robot: It is shaped in a way that resembles a human hand, i.e. with independent fingers and thumbs.
Cartesian robots, [5] also called rectilinear, gantry robots, and x-y-z robots [6] have three prismatic joints for the movement of the tool and three rotary joints for its orientation in space. To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom).
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage.
Cartesian coordinate robots are controlled by mutually perpendicular active prismatic P joints that are aligned with the X, Y, Z axes of a Cartesian coordinate system. [ 6 ] [ 7 ] Although not strictly ‘robots’, other types of manipulators , such as computer numerically controlled (CNC) machines, 3D printers or pen plotters , also have the ...
The first industrial robot, [1] Unimate, was invented in the 1950s. Its control axes correspond to a spherical coordinate system, with RRP joint topology composed of two revolute R joints in series with a prismatic P joint. Most industrial robots today are articulated robots composed of a serial chain of revolute R joints RRRRRR.
A slider-crank linkage is a four-bar linkage with three revolute joints and one prismatic, or sliding, joint. The rotation of the crank drives the linear movement the slider, or the expansion of gases against a sliding piston in a cylinder can drive the rotation of the crank.