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Robot Degree of Freedom Configuration

The document discusses different coordinate systems used in robotics, including Cartesian, cylindrical, polar/spherical, and revolute systems. It describes the basic components of industrial robots, including their working areas, classifications, grippers, drives, feedback sensors, and common arm and body motions like vertical, radial, and rotational traverse. The coordinate systems each have advantages and disadvantages for robot arm design and motion.

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Honey Rathore
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116 views56 pages

Robot Degree of Freedom Configuration

The document discusses different coordinate systems used in robotics, including Cartesian, cylindrical, polar/spherical, and revolute systems. It describes the basic components of industrial robots, including their working areas, classifications, grippers, drives, feedback sensors, and common arm and body motions like vertical, radial, and rotational traverse. The coordinate systems each have advantages and disadvantages for robot arm design and motion.

Uploaded by

Honey Rathore
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Cartesian

Coordinate System

Called also
rectangular
coordinate
system
Cartesian
Coordinate System

X- Axis
Cartesian
Coordinate System

Y- Axis
Cartesian
Coordinate System

Z- Axis
Cartesian
Coordinate System
Cartesian Coordinate

Let us distinguish between


the world coordinates and
the hand coordinates
Cartesian Coordinate
Advantages of Cartesian System

1. High resolution and great accuracy and repeatibility


2. Good obstacle avoidance and collision prevention
3. Ease of joint motion with respect to gravity loading
4. Easier control
5. Lift capacity
Disadvantages of Cartesian System
1. Large structural framework
2. Confinement of work space
3. Restriction on being compatible with other arms in a
common workspace. Large floor space
4. More complex mechanical design for linear sliding
motions.
Cylindrical
Coordinate System
Cylindrical
Coordinate System

R- Axis
Cylindrical
Coordinate System

Z - Axis
Cylindrical
Coordinate System

theta - Axis
Cylindrical
Coordinate System
Cylindrical Coordinate
Advantages of Cylindrical
1. Reduced effect of gravity loading
2. Moderate collision free movements
3. Two linear axes make the mechanical design less
complex than Cartesian
4. Good accuracy
Disadvantages of Cylindrical
1. Some restrictions on compatibility
with other manipulators in a common
work space
2. Less accuracy and resolution
compared with Cartesian
Polar (Spherical)
Coordinate System
Polar (Spherical)
Coordinate System

 - Axis
Polar (Spherical)
Coordinate System

gamma - Axis
Polar (Spherical)
Coordinate System

R - Axis
Polar (Spherical)
Coordinate System
Polar/Spherical Coordinate
Advantages of Spherical/Polar

1. Minimal structural complexities


2. Short joint travel for many motions - good reach
3. Compatible with other robot and machines in
common work space
4. Good resolution because errors in position are
perpendicular
Disadvantages of Spherical/Polar
Revolute
Coordinate
System
Revolute (Joined-Arm)
Coordinate System
Revolute (Joined-Arm)
Coordinate System

alpha - Axis
Revolute (Joined-Arm)
Coordinate System

 - Axis
Revolute (Joined-Arm)
Coordinate System

gamma - Axis
Revolute (Joined-Arm)
Coordinate System
Jointed Arm
Advantages of Articulate/Jointed
Arm/Revolute
Disadvantages of
Articulate/Jointed Arm/Revolute
SCARA
A combination of the articulated arm and the cylindrical robot
Illustration of
DOF of
Revolute
Coordinate
System
Degrees of Freedom

VS
Degrees of Freedom

•Rotating the base.


Degrees of Freedom

• Pivot the base of


the arm.
Degrees of Freedom

•Bending the elbow.


Degrees of Freedom

•Wrist up and down.


Degrees of Freedom

•Wrist left and right.


Degrees of Freedom

•Rotating the wrist.


Classification Based on Number of
joints or degrees of freedom
Industrial Robot
Designs
• Principal
Elements of
industrial robots
Working Area of Industrial Robots
• Mechanics/Kin
ematics
• Kinematics
concepts of a
3-axis
industrial
robot and the
resulting
work area.
Classification of Industrial
Robots
Grippers and Controls of
Industrial Robots
Drives, Feedback and Sensors
of Industrial Robots
Basic Robot Motions and
DOF of industrial robots
Arm and Body Motions
•Vertical Traverse:
•up-and-down motions of the arm,
•caused by pivoting the entire arm about a horizontal axis
or moving the arm along a vertical slide
•Radial Traverse:
•extension and retraction of the arm (in-and-out movement)
•Rotational Traverse:
•rotation about the vertical axis (right or left swivel of the
robot arm)
Wrist
Motions
Basic Motions
Rotational
vertical
traverse
traverse
Wrist bend

radial traverse

Wrist
Swivel
Wrist
yaw
Robot Motion Characteristics
Robot Motion Characteristics
Additional Technical Features

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