Scribd
Upload
32 views14 pages

Lecture 3 Kinematics and Robotics

This lecture discusses kinematics and its applications in robotics. It introduces the concepts of workspaces, configuration spaces, and actuator spaces. Forward kinematics is described as relating the independent variables like joint angles to the position of robot components in cartesian space. Kinematics of serial mechanisms can be analyzed using Denavit-Hartenberg parameters. Degrees of freedom are determined using concepts like Gruebler's formula. Four-bar linkages are discussed as the simplest movable closed-chain mechanisms. The lecture concludes with an introduction to robotics and how forward kinematics is fundamental to describing the position and orientation of robotic components.

Uploaded by

Muhammad Abdullah Younas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
32 views14 pages

Lecture 3 Kinematics and Robotics

This lecture discusses kinematics and its applications in robotics. It introduces the concepts of workspaces, configuration spaces, and actuator spaces. Forward kinematics is described as relating the independent variables like joint angles to the position of robot components in cartesian space. Kinematics of serial mechanisms can be analyzed using Denavit-Hartenberg parameters. Degrees of freedom are determined using concepts like Gruebler's formula. Four-bar linkages are discussed as the simplest movable closed-chain mechanisms. The lecture concludes with an introduction to robotics and how forward kinematics is fundamental to describing the position and orientation of robotic components.

Uploaded by

Muhammad Abdullah Younas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 14

RIME-221 Introduction to

Mechatronics Design
Fundamentals
LEC. TAYYAB SHAHID

Lecture 3
Revision of previous lecture
Discussion about dynamics and introduction to kinematics

Dynamics and forces modulated with time.

Equation of motions (homogeneous and non-homogeneous)

Kinematics and Vector spaces

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 2
Objectives
• Starting with the main mechanical part of both mechatronics and robotics.

• Spaces and Kinematics

•Degree of Freedom and mechanisms around the world

•Introduction to robotics

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 3
The concept of Spaces
•Work-space: A space defined by all the possible positions within the cartesian space (X-Y-Z) in
which the robot’s manipulator can be present

•Configuration-space: A space defined by all the possible joint variables that govern the
robot’s overall pose or configuration.

•Actuator-space: A space defined by all the possible values an actuator can take. It can be the
same as configuration space.

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 4
Kinematics
•Kinematics, also called Forward Kinematics, deals with
finding a solution in the Cartesian space based on
information provided by the robot’s independent
variables.
•Independent Variables are the variables that we can
control. In the case of most robots these are the shaft
angles or slider displacements, which are controlled using
motors.
•Forward Kinematics can be represented as:

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 5
Kinematics of Serial Mechanisms
Kinematics of Serial Mechanisms can be computed using Denavit-Hartenberg
parameterization.

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 6
Degree of Freedom in Mechanisms
chelps us determine the degree’s of freedom.

Every design question revolves around


the degree of freedom and how
kinematics can be improved

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 7
Task
Remember the Gruebler’s Formula and now find the degree of freedom for Crank Slider
Mechanisms

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 8
What if I add motor at the revolute joint?
What will be the degree of freedom
after adding a motor

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 9
Four bar Linkages/Mechanisms
Simplest movable closed-chain linkage. From
bio-inspired robots to simple pump jacks are
made from four bar linkages and mechanisms.
Grashof condition
If the sum of the shortest and longest link of a
planar quadrilateral linkage is less than or
equal to the sum of the remaining two links,
then the shortest link can rotate fully with
respect to a neighboring link
S + L ≤ P + Q, where S is the shortest link, L is
the longest, and P and Q are the other links

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 10
Types of linkages give different
workspace

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 11
Introduction to robotics
In short, Forward Kinematics are the most rudimentary
principle of robotics.

It give rise to the linkages, workspaces and forward


kinematics to measure the position, displacement and
vectors of each linkages.

Kinematics in robotics are simply displacement of each


links from t1 to t2

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING


NUST 12
Position and Orientation
Once a coordinate system is established, we can
locate any point in the universe with a 3 x 1
position vector.

Often, we will find it necessary not only to


represent a point in space but also to describe the
orientation of a body in space.

13
Thank You

14

You might also like