Robotics and Automation

Topic: Robot Manipulator

Subject Teacher: Prof. Ketki C. Pathak
E&C Department
SCET, Surat
Robot Manipulator

1. Manipulator is also known as robotic arm.

2. The arm is made up of a finite number of individual
rigid segments.
3. Each rigid segment is called as a Link.
4. Links are connected to each other by joints.
5. Links move with respect to its joint.
 Robotic Arm
Upper arm

Joint
Link
Lower arm
Power cable
Wrist
Motor Gripper mounting flange
Waist
Base

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 Types of Joints
Joints are of two types
1. Linear joint – links move in linear fashion with respect to
its joint when actuated.
2. Rotary joint – links move in rotary fashion with respect to its
joint when actuated.

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 Types of
Joints
Link i – 1 Link i – 1

Joint i
Joint i
Link i Link i

(a) Rotary joint (b) Linear joint

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Types of Joints

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Types of Joints

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 Degrees of Freedom

1. Degrees of freedom (DOF) is defined as the

ability of a joint to produce linear or rotary
movement when actuated.
2. Number of DOF for a robot is equal to the
number of joint axes in the robotic arm.

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 Lower Pair Joints
1. A lower pair joint is the joint in which two contacting
surfaces can slide over with one another in rotary or linear
manner.
2. They are of six types
a) Revolute joint – 1 DOF
b) Prismatic joint – 1 DOF
c) Screw joint – 1 DOF
d) Cylindrical joint – 2 DOF
e) Planar joint – 3 DOF
f) Spherical joint – 3 DOF

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 Lower Pair Joints

(a) (b)

(a) Revolute joint

(b) Prismatic joint
(c) (d)
(c) Screw joint
(d) Cylindrical joint
Lower Pair Joints

(e) (f)

(e) Planar joint

(f) Spherical joint

DESIGN AND APPLICATIONS OF INDUSTRIAL ROBOTS

SABARIGIRIVASAN.R
 Link Parameters
1. Link length – 𝑎i
2. Twist angle – 𝛼i
3. Joint angle – 𝜃i
4. Link offset – 𝑑i
 Wrist Motion
1. Yaw – Rotary motion executed about 𝑧 axis. Causes
movement in left and right directions.
2. Pitch – Rotary motion executed about 𝑦 axis. Causes
movement in up and down directions.
3. Roll – Rotary motion executed about 𝑥
axis.
 Wrist Motion

Robot wrist 𝑧
Yaw

Pitch
𝑦

𝑥 Roll

DESIGN AND APPLICATIONS OF INDUSTRIAL ROBOTS 14

SABARIGIRIVASAN.R
Wrist Motion
Wrist Motion
Wrist Motion
 Robot’s Work Volume
1. The three dimensional space around the robot
where it can sweep its wrist end within the points of
maximum and minimum reach is called as Robot’s
work Volume.
2. Maximum Reach is the point where the wrist end can
go as far as possible from its base.
3. Minimum reach is the point where the wrist end can
go as close as possible to its base.
 Robot Reach
Work envelope

Robot
Endeffector

Robot base
Maximum reach
Minimum reach

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Robot Reach

Animation
 Classification of Manipulator
1. Cartesian coordinate robot system
2. Cylindrical robot system
3. Polar robot system
4. Pendulum robot system
5. Articulated or Jointed arm robot system
a) Horizontal axis jointed arm
b) Vertical axis jointed arm
6. Multiple joint robot system
Cartesian Coordinate Robot
System

(a) (b)

(a) Cartesian
coordinate robot
system
(b) Gantry style (area gantry)
(c) Rectangular work envelope
(c) 22
Cartesian Coordinate Robot System
 Cylindrical Robot System

(a) Cylindrical robot system (b) Cylindrical work envelope

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 Polar Robot
System

(a) Polar robot system (b) Spherical work envelope

DESIGN AND APPLICATIONS OF INDUSTRIAL ROBOTS 27

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Polar Robot System

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 Pendulum Robot System

(a) Pendulum robot system (b) Partially spherical

work envelope

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Pendulum Robot System

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 Horizontal Axis Jointed Arm

(a) Horizontal axis robot system (b) Spherical work envelope

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Horizontal Axis Jointed Arm
Horizontal Axis Jointed Arm
 Vertical Axis Jointed Arm

(a) Vertical axis robot system (b) Cylindrical work envelope

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Vertical Axis Jointed Arm
Vertical Axis Jointed Arm
Multiple Joint Robot System

(a) Spine robot system (b) Spherical work envelope

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Multiple Joint Robot System
 Manipulator Kinematics
1. Kinematics deals with the study of motion without
considering the forces acting on the robot structure.
2. Forward Kinematics
Required position and orientation is determined from a
given set of joint angles.
3. Inverse Kinematics
Joint angles of all joints in the arm are
determined from the given position and
orientation.
 Homogeneous Transformation
Translation
Translation is the linear displacement made by a point
along a straight line about x, y or z axis.

Rotation
Rotation is the angular displacement made by a
point about x, y or z axis.
Point Translation
 Manipulator Dynamics
1. Dynamics deals with the study of forces acting on the
robot structure while it is in action.
2. Lagrange – Euler equation is formulated based on the
kinetic and potential energies of the system.
3. Difference between the kinetic and potential energies of the
system is known as Lagrangian function.
 Disturbances Acting on the Links
1. Action of gravity
2. Centripetal forces
3. Centrifugal forces
4. Coriolis forces
 Robot Motion
1. Point to point motion – The path has no importance.
2. Continuous path motion – The path taken is very important.
 Trajectories
1. Path taken by the robot endeffector within the work volume
is known as trajectory.
2. Trajectory planning.
a) Joint interpolated trajectory planning.
b) Cartesian path trajectory planning.