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Robot Calibration, Chapman & Hall, 1993; S.A. Hayati and M. Mirmirani. Improving the absolute positioning accuracy of robot manipulators. J. Robotic Systems, 2(4):397–441, 1985; K.S. Roberts. A new representation for a line. In Proceedings of the Conference on Computer Vision and Pattern Recognition, pages 635–640, Ann Arbor, MI, 1988
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).
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.
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.
Disney unveiled its next generation of robots at SXSW Friday. With the head of a bunny and a child-size frame, the robot tumbled out of a box, summersaulted and roller skated during a presentation ...
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.