Introduction to Robotics
Mechanics and Control
4th Edition
Chapter 08
Manipulator-Mechanism Design
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Manipulator-Mechanism Design
• 8.1 INTRODUCTION
• 8.2 BASING THE DESIGN ON TASK REQUIREMENTS
• 8.3 KINEMATIC CONFIGURATION
• 8.4 QUANTITATIVE MEASURES OF WORKSPACE ATFRIBUTES
• 8.5 REDUNDANT AND CLOSED-CHAIN STRUCTURES
• 8.6 ACTUATION SCHEMES
• 8.7 STIFFNESS AND DEFLECTIONS
• 8.8 POSITION SENSING
• 8.9 FORCE SENSIN
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Four categories of elements of a robot
system
• 1. The manipulator, including its internal or proprioceptive
sensors;
• 2. the end-effector, or end-of-arm tooling;
• 3. external sensors and effectors, such as vision systems and part
feeders; and
• 4. the controller.
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8.2 BASING THE DESIGN ON TASK REQUIREMENTS
• Number of degree of freedom
• Workspace
• Load Capacity
• Speed
• Repeatability and accuracy
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Figure 8.1
A 6-DOF manipulator with a symmetric tool contains a redundant
degree of freedom.
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Figure 8.2
A tilt/roll platform provides two degrees of freedom to the overall
manipulator system.
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8.3 KINEMATIC CONFIGURATION
– Cartesian
– Articulated
– SCARA
– Spherical
– Cylindrical
– Wrists
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Figure 8.3
A Cartesian manipulator.
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Figure 8.4
An articulated manipulator.
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Figure 8.5
A SCARA manipulator.
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Figure 8.6
A spherical manipulator.
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Figure 8.7
A cylindrical manipulator.
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Figure 8.8
An orthogonal-axis wrist driven by remotely located actuators via
three concentric shafts.
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Figure 8.9
Two views of a nonorthogonal-axis wrist [24]. Adapted from
International Encyclopedia of Robotics, by R. Dorf and S. Nof
(editors). From Wrists by M. Rosheim, John C. Wiley and Sons, Inc.,
New York, NY ©1988.
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Figure 8.10
A manipulator with a wrist whose axes do not intersect. However,
this robot does possess a closed-form kinematic solution.
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Figure 8.11
Typical wrist design of a 5-DOF welding robot.
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8.4 QUANTITATIVE MEASURES OF WORKSPACE
ATTRIBUTES
Efficiency of design in terms of generating
workspace
Designing well-conditioned workspaces
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8.5 REDUNDANT AND CLOSED-CHAIN STRUCTURES
•
Micromanipulators and other redundancies
•
Closed-loop structures
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Figure 8.12
Workspace of a 2-DOF planar arm, showing inertia ellipsoids,
adapted from [5] (©1984 IEEE). The dashed line indicates a locus
of isotropic points in the workspace.
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Figure 8.13
Two suggested seven-degree-of-freedom manipulator designs [3].
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Figure 8.14
The Stewart mechanism is a six-degree-of-freedom fully parallel
manipulator.
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8.6 ACTUATION SCHEMES
•
Actuator location
•
Reduction and transmission systems
•
Stiffness and deflections
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Figure 8.15
Band, cable, belt, and chain drives have the ability to combine
transmission with reduction.
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Figure 8.16
Lead screws (a) and ball-bearing screws (b) combine a large
reduction and transformation from rotary to linear motion.
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Figure 8.17
Simple cantilever beam used to model the stiffness of a link to an
end load.
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Figure 8.18
DC brush motors are among the actuators occurring most
frequently in manipulator design. Adapted from Franklin, Powell,
Emami-Naeini, Feedback Control of Dynamic Systems, © 1988,
Addison-Wesley, Reading, MA.
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8.8 POSITION SENSING
•
Resolvers
•
Potentiometers
•
Tachometers
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8.9 FORCE SENSING
•
1. How many sensors are needed to resolve the desired
information?
•
2. How are the sensors mounted relative to each other on the
structure?
•
3. What structure allows good sensitivity while maintaining
stiffness?
•
4. How can protection against mechanical overload be built into
the device?
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Figure 8.19
The optical sensor is at “O”, the center of the disk is at “C” but the
center of the shaft is at “R”.
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Figure 8.20
Like Figure 8.19, but with the grating lines shown.
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Figure 8.21
The line segment CA, representing a grating line, shown in two
different positions when shaft angle changes by θ.
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Figure 8.22
Dotted line through C2 which is parallel to RO.
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Figure 8.23
Triangle from Figure 8.22 that we will analyze.
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Figure 8.24
The internal structure of a typical force-sensing wrist.
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Figure 8.25
A link actuated through a shaft after a gear reduction.
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Figure 8.26
Simplified version of the drive train of joint 4 of the PUMA 560
manipulator [23].
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Figure 8.27
Stewart mechanism of Exercise 8.12.
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Figure 8.28
A three-fingered hand in which each finger has three degrees of
freedom grasps an object with “point contact.”
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Figure 8.29
Closed loop mechanism of Exercise 8.20.
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Figure 8.30
Linear actuator.
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Figure 8.31
Belt-drive system.
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Figure 8.32
Planar closed-loop mechanism.
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Figure 8.33
Planar closed-loop mechanism.
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