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Class 2

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19 views21 pages

Class 2

Uploaded by

Cyberstorm .007
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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MECHANICS OF

ROBOTIC SYSTEMS
INTRODUCTION
PRAJWAL SHENOY
ABHISHEK KASHYAP
IN THIS CLASS …..
1. Joints in a robot
2. Degrees of freedom
3. Grublers criterion
JOINTS

LINK 1 J LINK 2

LINK 2
LINK 1 J LINK 2 LINK 1 J LINK 1 J LINK 1 J
𝜃

LINK 2
TYPES OF JOINTS

REVOLUTE JOINT (1 DOF)


.
𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑒

𝜽 𝒋 (𝐽𝑜𝑖𝑛𝑡 𝑉𝑎𝑟𝑖𝑎𝑏𝑙𝑒) 𝑇𝑤𝑖𝑠𝑡𝑖𝑛𝑔 𝑗𝑜𝑖𝑛𝑡

d 𝒋 (fixed)

a 𝒊𝒋

TWISTING JOINT: 𝒂𝒋𝒌 will be parallel to the vertical axis.


TYPES OF JOINTS

PRISMATIC JOINT (1 DOF)


.

𝜽 𝒋 ( 𝑓𝑖𝑥𝑒𝑑)

d 𝒋 ( variable)
a 𝒊𝒋
TYPES OF JOINTS

CYLINDRICAL JOINT (2 DOF)


.

𝜽 𝒋 (𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒)

d 𝒋 (variable)

a 𝒊𝒋
TYPES OF JOINTS

Hookes joint (2 DOF) Spherical Joint (3 DOF)


. .
JOINT SYMBOLS

Revolute Joint Cylindrical Joint Hookes Joint


. . .

Prismatic Joint Spherical Joint Twisting Joint


. .
.
KINEMATIC DIAGRAM

Example
.

𝑅
DEGREES OF FREEDOM

DOF: Minimum number of independent parameters needed to describe a


.
system completely.

A point in 2D: 2 DOF


Y A point in 3D: 3DOF
X A rigid body in 2D: 3 DOF
Z
A rigid body in 3D: 6DOF
REDUNDANT AND UNDER ACTUATED MANIPULATORS
2 DOF
Redundant manipulator: More DOF than necessary Y (Enough)

Example > 6 DOF spatial manipulator X


Underactuated
.
> 3DOF Planar manipulator
3 DOF
(Ideal)
Y
Underactuated manipulator: Lesser DOF than necessary
X
Example < 6 DOF spatial manipulator
.
< 3DOF Planar manipulator 4 DOF
(Expensive)
Y

X Redundant
Z
GRUBLERS CRITERION

Grubler’s Criterion: Calculate the DOF of any linkage or manipulator

n Rigid moving links


.
m Number of joints
Y

n =1 n =2
m =1 m =2
DOF =3-constraints DOF =(3−constraints)1 +(3−constraints)2
=3-2 =(3-2) +(3-2)
=1DOF =2 DOF
GRUBLERS CRITERION
Grublers Criterion:
𝑚

DOF = 3𝑛 − ෍ 3 − 𝐶𝑖 𝑓𝑜𝑟 𝑝𝑙𝑎𝑛𝑎𝑟 𝑟𝑜𝑏𝑜𝑡


𝑖=1
𝑚

DOF = 6𝑛 − ෍ 6 − 𝐶𝑖 𝑓𝑜𝑟 𝑠𝑝𝑎𝑡𝑖𝑎𝑙 𝑟𝑜𝑏𝑜𝑡


𝑖=1

𝐶𝑖 is the connectivity
GRUBLERS CRITERION

Example: Calculate the DOF for the planar manipulator shown

n2 n3 n4
m3
m2 m4
n1
𝑚
m1
𝐷𝑂𝐹 = 3𝑛 − ෍ 3 − 𝐶𝑖
𝑖=1
n =4 =3×4 − 3−1 + 3−1 + 3−1 + 3−1
m =4 =4
GRUBLERS CRITERION

Example: Calculate the DOF for the planar manipulator shown

𝐷𝑂𝐹 = 3𝑛 − ෍ 3 − 𝐶𝑖
𝑖=1
=3×4 − 3−1 + 3−1 + 3−1 + 3−1
n =4 =4
m =4
GRUBLERS CRITERION

Example: Calculate the DOF for the planar manipulator shown


𝑹
End
𝑹 𝑚
effector 𝑷
𝑹 𝐷𝑂𝐹 = 3𝑛 − ෍ 3 − 𝐶𝑖
𝑷 𝑹 𝑖=1
𝑷 =3×7 − 3−1 ×9
𝑹 Fixed base
=3
𝑹

n =7
m =9
GRUBLERS CRITERION

Example: Calculate the DOF for the planar manipulator shown


Summary…..
1. Joints in a robot
2. Degrees of freedom
3. Grublers criterion
THANK YOU
CROSSWORD
CROSSWORD

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