ECE447: Robotics Engineering

Lecture 2: Introduction to Robot Manipulator

Dr. Haitham El-Hussieny

Electronics and Communications Engineering
Faculty of Engineering (Shoubra)
Benha University

Spring 2019

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Non-Industrial Applications of Robot Manipulators:

Service (Cooking) Service (Folding Clothes)

Rehabilitation

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Table of Contents

1 Structure of Robot Manipulators.

2 Degree of Freedom (DoF).

3 Task Space and Workspace.

4 Common Kinematic Arrangements.

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 Structure of Robot Manipulators.

Table of Contents

1 Structure of Robot Manipulators.

2 Degree of Freedom (DoF).

3 Task Space and Workspace.

4 Common Kinematic Arrangements.

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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

The robotic manipulators are composed of:
Kinematic open chain composed of Rigid Links
and Joints.

Each joint connects two links

together.
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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

The robotic manipulators are composed of:
Kinematic open chain composed of Rigid Links
and Joints.
The BASE: can be either fixed in the work
environment or placed on a mobile platform.

Each joint connects two links

together.
Dr. Haitham El-Hussieny ECE447: Robotics Engineering 5 / 35
 Structure of Robot Manipulators.

Structure of Robot Manipulators:

The robotic manipulators are composed of:
Kinematic open chain composed of Rigid Links
and Joints.
The BASE: can be either fixed in the work
environment or placed on a mobile platform.
End-Effector: Tool is located at the end, used to
execute the desired operations [gripper or specific
tool].

Each joint connects two links

together.
Dr. Haitham El-Hussieny ECE447: Robotics Engineering 5 / 35
 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Linear (Prismatic) Joint

Allows translation between two links.

It is represented by symbol P .
The joint variable is displacement d.
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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Linear (Prismatic) Joint Rotary (Revolute) Joint

Allows translation between two links. Allows rotation between two links.
It is represented by symbol P . It is represented by symbol R.
The joint variable is displacement d. The joint variable is angle θ.
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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Spherical Joint

Allows rotation around three axes.

It is represented by symbol S.
The joint variables are θ, γ and ψ.
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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Spherical Joint Universal Joint

Allows rotation around three axes. Allows rotation around two axes.
It is represented by symbol S. It is represented by symbol U .
The joint variables are θ, γ and ψ. The joint variables are θ1 and θ2 .
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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Cylindrical Joint

Allows rotation and translation.

It is represented by symbol C.

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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

Cylindrical Joint Screw Joint

Allows rotation and a constrained

Allows rotation and translation. translation.
It is represented by symbol C. It is represented by symbol SC.

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 Structure of Robot Manipulators.

Structure of Robot Manipulators:

Types of Joints:

The two common joints in serial robot manipulators are (Prismatic and Revolute) joints.

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 Structure of Robot Manipulators.

Structure of Robotic Manipulators:

Example of Robotic Manipulators:

RRP

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 Structure of Robot Manipulators.

Structure of Robotic Manipulators:

Example of Robotic Manipulators:

RPP

RRP

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 Structure of Robot Manipulators.

Structure of Robotic Manipulators:

Example of Robotic Manipulators:

RPP PPP

RRP

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 Structure of Robot Manipulators.

Structure of Robotic Manipulators:

Example of Robotic Manipulators:

RPP PPP

RRP RRRR

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 Degree of Freedom (DoF).

Table of Contents

1 Structure of Robot Manipulators.

2 Degree of Freedom (DoF).

3 Task Space and Workspace.

4 Common Kinematic Arrangements.

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Configuration Space:
Robot’s configuration: a specification of the
positions of all points of the robot.

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Configuration Space:
Robot’s configuration: a specification of the
positions of all points of the robot.
Since the robot is rigid, only a few numbers are
needed to represent its configuration.

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Configuration Space:
Robot’s configuration: a specification of the
positions of all points of the robot.
Since the robot is rigid, only a few numbers are
needed to represent its configuration.
The n-dimensional space containing all possible
configurations of a robot is called the
configuration space (C-space).

Examples of configuration spaces

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Robot’s Degrees of Freedom (n):

Is the smallest number n of real-valued coordinates
needed to represent the robot’s configuration.

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Robot’s Degrees of Freedom (n):

Is the smallest number n of real-valued coordinates
needed to represent the robot’s configuration.

Rigid Body DoF (m):

A rigid body in three-dimensional space, which we
call a spatial rigid body, has six degrees of
freedom, m = 6 (three for position and three for
orientation).

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Robot’s Degrees of Freedom (n):

Is the smallest number n of real-valued coordinates
needed to represent the robot’s configuration.

Rigid Body DoF (m):

A rigid body in three-dimensional space, which we
call a spatial rigid body, has six degrees of
freedom, m = 6 (three for position and three for
orientation).
A rigid body moving in a two-dimensional plane,
which we call a planar rigid body, has three
degrees of freedom, m = 3 (two for position and
one for orientation).
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Defective manipulators:
If n < m, e.g. n = 4, 5 and m = 6 (spatial). It
is not possible to execute all the possible tasks
in the workspace, but only those defined in a
proper subspace (e.g. SCARA).
SCARA Robot

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Defective manipulators:
If n < m, e.g. n = 4, 5 and m = 6 (spatial). It
is not possible to execute all the possible tasks
in the workspace, but only those defined in a
proper subspace (e.g. SCARA).
SCARA Robot

Redundant manipulators:
If n > m, for example n = 7, 8, and m = 6. A
given task can be executed in infinite different
manners.
Redundant Robots

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

Grübler’s Formula:

The number of degrees of freedom of a mechanism with links and joints can be calculated
using Grübler’s formula:

DoF = (sum of freedoms of the bodies) - (number of independent constraints)

If a mechanism has N links including ground, and J joints, its DoF is determined by:

J
X
DoF = m(N − 1 − J) + fi
i=1

m = 3 for planar and m = 6 for rigid mechanisms.

fi is the number of freedoms provided by joint i.

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
N = 5 links
J = 4 joints
DoF = 3(5 − 1 − 4) + 4
DoF = 4
Redundant robot
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
m=3 N = 5 links
N = 5 links J = 5 joints
J = 4 joints DoF = 3(5 − 1 − 5) + 5
DoF = 3(5 − 1 − 4) + 4 DoF = 2
DoF = 4
Redundant robot
Dr. Haitham El-Hussieny ECE447: Robotics Engineering 16 / 35
 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
m=3 N = 5 links
N = 5 links J = 5 joints m=3
J = 4 joints DoF = 3(5 − 1 − 5) + 5 N = 6 links
DoF = 3(5 − 1 − 4) + 4 DoF = 2 J = 7 joints
DoF = 4 DoF = 3(6 − 1 − 7) + 7
Redundant robot DoF = 1
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
m=3
m=3 N = 6 links
N = 5 links
N = 5 links J = 7 joints
J = 5 joints m=3
J = 4 joints DoF = 3(6 − 1 − 7) + 7
DoF = 3(5 − 1 − 5) + 5 N = 6 links
DoF = 3(5 − 1 − 4) + 4 DoF =1
DoF = 2 J = 7 joints
DoF = 4 DoF = 3(6 − 1 − 7) + 7
Redundant robot DoF = 1
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

Three links are connected at a single

point A.
Since a joint connects exactly two
links, the joint at A is correctly
interpreted as two revolute joints
overlapping each other.

Mechanism with two overlapping joints

Dr. Haitham El-Hussieny ECE447: Robotics Engineering 17 / 35

 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

Three links are connected at a single

point A.
Since a joint connects exactly two
links, the joint at A is correctly
interpreted as two revolute joints
overlapping each other.
m=3
N = 8 links
J = 9 joints
DoF = 3(8 − 1 − 9) + 9 Mechanism with two overlapping joints
DoF = 3

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

The fixed link connected with the

slider is considered as ground.
m=3
N = 4 links
J = 4 joints
DoF = 3(4 − 1 − 4) + 4
DoF = 1 Slider-crank mechanism

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
N = 7 links
J = 9 joints
DoF = 3(7 − 1 − 9) + 9(1)
DoF = 3

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

Parallel Robots:

m=6
N = 17 links
J = 21 joints
DoF = 6(17 − 1 − 21) + 9(1) + 12(3)
DoF = 15
However, only three DoF are visible at
the end effector that moves parallel to the
fixed platform. So, the Delta robot acts as
an x − y − z Cartesian positioning device.
Delta robot
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=6
N = 14 links
J = 18 joints (6 × P , 6 × U , 6 × S)
DoF = 6(14 − 1 − 18) + 6(1) + 6(2) + 6(3)
DoF = 6
The Stewart-Gough platform is a
popular choice for car and airplane
cockpit simulators since it moves
with the full six degrees of freedom of
motion of a rigid body.
Its parallel structure means that each
leg needs to support only a fraction
of the weight of the payload. Stewart-Gough platform
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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
N = 5 links
J = 4 joints
DoF = 3(5 − 1 − 4) + 4
DoF = 4

Dr. Haitham El-Hussieny ECE447: Robotics Engineering 22 / 35

 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
N = 5 links
J = 4 joints
DoF = 3(5 − 1 − 4) + 4
DoF = 4

Dr. Haitham El-Hussieny ECE447: Robotics Engineering 22 / 35

 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Grübler’s Formula (Examples) DoF = m(N − 1 − J) + i=1 fi

m=3
m=6
N = 5 links
N = 6 links
J = 4 joints
J = 5 joints
DoF = 3(5 − 1 − 4) + 4
DoF = 6(6 − 1 − 5) + 5
DoF = 4
DoF = 5

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Exception to Grübler’s Formula DoF = m(N − 1 − J) + i=1 fi

Using Grüebler’s equation, this linkage has zero degrees

of freedom: DoF = 3(5 − 1 − 6) + 6(1) = 0

A parallelogram linkage
N = 5, J = 6R

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 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Exception to Grübler’s Formula DoF = m(N − 1 − J) + i=1 fi

Using Grüebler’s equation, this linkage has zero degrees

of freedom: DoF = 3(5 − 1 − 6) + 6(1) = 0
This indicates that the mechanism is locked (No
motion). This is true if all pivoted links are not
identical.

A parallelogram linkage
N = 5, J = 6R

Dr. Haitham El-Hussieny ECE447: Robotics Engineering 23 / 35

 Degree of Freedom (DoF).

Degree of Freedom (DoF):

PJ
Exception to Grübler’s Formula DoF = m(N − 1 − J) + i=1 fi

Using Grüebler’s equation, this linkage has zero degrees

of freedom: DoF = 3(5 − 1 − 6) + 6(1) = 0
This indicates that the mechanism is locked (No
motion). This is true if all pivoted links are not
identical.
If all pivoted links were the same size and the distance
between the joints on the frame and coupler were
identical, this mechanism is capable of motion, with a A parallelogram linkage
single degree of freedom. N = 5, J = 6R
The center link is redundant and because it is identical
in length to the other two links attached to the frame, it
can be removed and, DoF = 3(4 − 1 − 4) + 4(1) = 1
Dr. Haitham El-Hussieny ECE447: Robotics Engineering 23 / 35
 Task Space and Workspace.

Table of Contents

1 Structure of Robot Manipulators.

2 Degree of Freedom (DoF).

3 Task Space and Workspace.

4 Common Kinematic Arrangements.

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 Task Space and Workspace.

Task Space and Workspace:

Task space
The task space is a space in which Drawing task space: R2
the robot’s task can be naturally
expressed.
The decision of how to define the
task space is driven by the task,
independently of the robot.

Peg-in-hole task space: R5

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 Task Space and Workspace.

Task Space and Workspace:

Workspace
Reachable workspace: is a specification of the configurations that the robot end-effector can
reach.

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 Task Space and Workspace.

Task Space and Workspace:

Workspace
Reachable workspace: is a specification of the configurations that the robot end-effector can
reach.
Dexterous workspace: is a specification of the configurations that the robot end-effector can
reach with arbitrary orientation.

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 Task Space and Workspace.

Task Space and Workspace:

Workspace
Reachable workspace: is a specification of the configurations that the robot end-effector can
reach.
Dexterous workspace: is a specification of the configurations that the robot end-effector can
reach with arbitrary orientation.
Robot’s workspace depends on: the kinematic configuration, the links’ dimension, the joints’ range
of motion.

Cartesian Manipulator SCARA Manipulator Cylindrical Manipulator KUKA YouBot ?

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 Common Kinematic Arrangements.

Table of Contents

1 Structure of Robot Manipulators.

2 Degree of Freedom (DoF).

3 Task Space and Workspace.

4 Common Kinematic Arrangements.

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[1] Articulated Manipulator (RRR):

ABB IRB1400 Anthropomorphic Robot

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[2] Spherical Manipulator (RRP):

Stanford Arm

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[3] SCARA Manipulator (RRP):
Selective Compliant Articulated Robot for Assembly:

Adept Cobra i600

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[4] Cylindrical Manipulator (RPP):

Seiko RT3300 Robot

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[5] Cartesian Manipulator (PPP):

Epson Cartesian Robot

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[6] PUMA Manipulator (RRR):
Programmable Universal Machine for Assembly:

PUMA Robot

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 Common Kinematic Arrangements.

Common Kinematic Arrangements:

[7] Spherical Wrist (RRR):
It is common to attach a spherical wrist to the
manipulator end to allow the orientation of the
end-effector.
In spherical wrist the axes of the three joints are
intersecting at the wrist center point.

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”Robots are becoming more human, and humans are becoming more robotic”

Bob Metcalfe (1946- ), Ethernet inventor.

Questions?
[email protected]

Dr. Haitham El-Hussieny ECE447: Robotics Engineering 35 / 35