Ch. 1: Introduction
What is a Robot?
A robot is a reprogrammable, multifunctional
manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.
(Robot Institute of America)
Ch. 1: Introduction
Features
• Reprogrammable manipulator
• Multifunctional
• Motion
Ch. 1: Introduction
Robot Classification by Geometry Mobile (wheel) robot
Ch. 1: Introduction
Parallel robot
ABB Tricept parallel robot
Ch. 1: Introduction
Serial robot
Adept Industrial robot
Ch. 1: Introduction
Mobile + Serial robot
NASA’s Mars rover
Ch. 1: Introduction
Humanoid robot
Honda Asimo
Ch. 1: Introduction
Flying robot
Seiko-Epson flying micro robot
Ch. 1: Introduction
Serpentine robot
Ch. 1: Introduction
Serial Manipulator
• large workspace
• simple structure
• achieve various tasks through
changeable wrists and end effectors
• most common Æ industrial robots
Ch. 1: Introduction
Types of Joint
• prismatic joint
• revolute joint
Ch. 1: Introduction
• helical joint (prismatic + revolute)
• spherical joint
Ch. 1: Introduction
Wrists
Spherical wrist
Ch. 1: Introduction
End effectors
Ch. 1: Introduction
Common Kinematic Arrangements Articulated Manipulator (RRR)
Ch. 1: Introduction
Spherical Manipulator (RRP)
Ch. 1: Introduction
SCARA Manipulator (RRP)
Ch. 1: Introduction
SCARA Manipulator (RRP)
Ch. 1: Introduction
Cylindrical Manipulator (RPP)
Ch. 1: Introduction
Cartesian Manipulator (PPP)
Ch. 1: Introduction
Parallel Manipulator
Ch. 1: Introduction
Workspace: space which the end- effector can reach
