Scribd
Upload
39 views

In This Lecture We Will Learn About: Module 2: Robots Mechanisms Lecture 5: Manipulators Mechanisms-I Objectives

This document provides an overview of manipulator mechanisms, including: 1. It discusses degrees of freedom (DOF) in serial and parallel manipulators, explaining that DOF is calculated differently for open vs. closed chains. 2. Examples are given of applying Gruebler's formula to calculate DOF for different mechanisms, such as a 5R manipulator having 2 DOF. 3. Parallel manipulators like the Stewart platform are introduced, with its DOF calculated as 6 using Gruebler's formula. 4. Manipulators can be used for "teaching" by determining the position and orientation of the end effector based on known link lengths and joint angles.

Uploaded by

Amjad Saeed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
39 views

In This Lecture We Will Learn About: Module 2: Robots Mechanisms Lecture 5: Manipulators Mechanisms-I Objectives

This document provides an overview of manipulator mechanisms, including: 1. It discusses degrees of freedom (DOF) in serial and parallel manipulators, explaining that DOF is calculated differently for open vs. closed chains. 2. Examples are given of applying Gruebler's formula to calculate DOF for different mechanisms, such as a 5R manipulator having 2 DOF. 3. Parallel manipulators like the Stewart platform are introduced, with its DOF calculated as 6 using Gruebler's formula. 4. Manipulators can be used for "teaching" by determining the position and orientation of the end effector based on known link lengths and joint angles.

Uploaded by

Amjad Saeed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

Module 2 : Robots mechanisms

Lecture 5 : Manipulators Mechanisms-I

Objectives
In this lecture we will learn about

Degrees of freedom

Parallel Manipulators

“Teaching” the manipulator

Degrees Of Freedom

It is required to find DOF for a manipulator which in turn decides the number of actuators required. The
task is relatively straightforward for open chains –serial manipulators. In most of these, the chain is
composed of links connected through revolute or prismatic pairs. The degrees of freedom simply turn out to
be the number of moving links in the open chain - and the number of actuators will equal the degrees of
freedom. The word “axis” is often used instead of degrees of freedom. Thus a manipulator with six moving
links and as many revolute pairs is called a 6-axis manipulator. Note that the actuator used to power the
gripper (open and close fingers etc) is not counted as an “axis” – since the function of the actuator on the
gripper is solely to open and close the fingers. Also, the actuator for the gripper does not contribute to the
positioning and orienting capability of the end-effector.

Closed chains.

Figure 5.1.1
To find the DOF of mechanism in robot, Gubler's formula for closed chains or given set of n links is applied.

For the 5R mechanism shown above Figure 5.1.1, let


Jr- no of revolute joints; Jp – no of prismatic joints
1.
Then Gublers formula states that DOF=3(n-1)-2Jr-2Jp
For above mechanism of 5R; DOF=3(5-1)-2x5=2

2. For 4RP mechanism, n=5, Jr=4, Jp=1 therefore DOF= 3(5-1)-2x4-2x1=2


Figure 5.1.2
Figure 5.1.2 for 6R bar planer mechanism n=6, Jr= 6, Jp=0
3.
Therefore Mechanism DOF = 3(6-1)-2x6=15-12=3

Work space of closed chains will be less than that of open chains.

Parallel Chains

Stewart platform: Here 2 rings top & bottom are connected


together through prismatic links and having ball & socket joint
1) at bottom and hooks joint at top. Figure 5.2.1 beside. Stewart
platform finds application in aircraft simulator where pilots are
trained

Figure5.2.1

Applying Grublers criterion for closed chains,

N=no of links=1

Js=no of spherical joints=6

Jh= no of hook's joint=6

Jr= no of revolute joint=0

Jp= no of prismatic joints=6

DOF = F=6(l-n-1) + S fi

Where l= no. of links

N= no of joints

fi = DOF with ith joint

Therefore, F = 6(14-18-1) + 36 = 6
Teaching and Measurement

Manipulators may be used as measuring tools as


shown in figure 5.3.1. With link lengths and joint
angles known we can determine position &
orientation of end effector. This technique is used
for “teaching”.

Figure 5.3.1
Recap
In this course you have learnt the following

Gublers criterion for mechanism analysis

Spatial robot of Stewart Platform and its DOF

Application of robots for inspection purposes

Congratulations, you have finished Lecture 5. To view the next lecture select it from the left hand side
menu of the page

You might also like