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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]
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. They model edges of the polyhedral objects used in many task planners or sensor processing modules.
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 (revolute-spherical-spherical-revolute) spatial four-bar linkage.
There are three basic types of planar four-bar linkage, depending on the use of revolute or prismatic joints: Four revolute joints: It is denoted as RRRR, constructed from four links connected by four revolute joints. The planar quadrilateral linkage refers to all arrangements in this type. Examples of 4R linkages include: Double-crank linkage
Repeated joints may be summarized by their number; so that joint notation for the SCARA robot can also be written 2RP for example. Joint notation for the parallel Gough-Stewart mechanism is 6-UPS or 6(UPS) indicating that it is composed of six identical serial limbs, each one composed of a universal U, active prismatic P and spherical S joint.
A prismatic joint can be formed with a polygonal cross-section to resist rotation. The relative position of two bodies connected by a prismatic joint is defined by the amount of linear slide of one relative to the other one. This one parameter movement identifies this joint as a one degree of freedom kinematic pair. [2]
The system of six joint axes S i and five common normal lines A i,i+1 form the kinematic skeleton of the typical six degree-of-freedom serial robot. Denavit and Hartenberg introduced the convention that z-coordinate axes are assigned to the joint axes S i and x-coordinate axes are assigned to the common normals A i,i+1.
In mechanical engineering, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints of a mechanism or machine rather than the dimensions or shape of the parts. Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic ...