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Join Notation Scheme

1. A robot joint allows relative movement between parts of a robot arm and enables the robot to move its end effector along a desired path. 2. There are three basic robot joint movements: rotational for horizontal arm positioning, radial for reaching distant points, and vertical for different heights. 3. Robot joints are either prismatic, allowing linear link movement, or revolute, permitting only angular motion between links via rotational, twisting, or revolving joints around defined axes.

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Chilton Fernandes
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770 views2 pages

Join Notation Scheme

1. A robot joint allows relative movement between parts of a robot arm and enables the robot to move its end effector along a desired path. 2. There are three basic robot joint movements: rotational for horizontal arm positioning, radial for reaching distant points, and vertical for different heights. 3. Robot joints are either prismatic, allowing linear link movement, or revolute, permitting only angular motion between links via rotational, twisting, or revolving joints around defined axes.

Uploaded by

Chilton Fernandes
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Joint Notation Scheme

A robot joint is a mechanism that permits relative movement between parts of a


robot arm. The joints of a robot are designed to enable the robot to move its
end-effector along a path from one position to another as desired.

The basic movements required for a desired motion of most industrial robots
are:

1. Rotational movement: This enables the robot to place its arm in any
direction on a horizontal plane.

2. Radial movement: This enables the robot to move its end-effector


radially to reach distant points.

3. Vertical movement: This enables the robot to take its end-effector to


different heights.

4. These degrees of freedom, independently or in combination with


others, define the complete motion of the end-effectors.

These motions are accomplished by movements of individual joints of the


robot arm. The joint movements are basically the same as relative motion of
adjoining links. Depending on the nature of this relative motion, the joints are
classified as prismatic or revolute.

Prismatic joints are also known as sliding as well as linear joints. They
are called prismatic because the cross section of the joint is considered as a
generalized prism. They permit links to move in a linear relationship.

Revolute joints permit only angular motion between links. Their variations
include:
Rotational joint (R)
Twisting joint (T)
Revolving joint (V)
In a prismatic joint, also known as a sliding or linear joint (L), the links are
generally parallel to one another. In some cases, adjoining links are
perpendicular but one link slides at the end of the other link.
The joint motion is defined by sliding or translational movements of the links.
The orientation of the links remains the same after the joint movement, but the
lengths of the links are altered.

A rotational joint (R) is identified by its motion, rotation about an axis


perpendicular to the adjoining links. Here, the lengths of adjoining links do not
change but the relative position of the links with respect to one another changes
as the rotation takes place.

A twisting joint (T) is also a rotational joint, where the rotation takes place
about an axis that is parallel to both adjoining links.

A revolving joint (V) is another rotational joint, where the rotation takes place
about an axis that is parallel to one of the adjoining links. Usually, the links are
aligned perpendicular to one another at this kind of joint. The rotation involves
revolution of one link about another.

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