Scribd
Upload
3 views

Types of Motion_joints_links-2

The document outlines three types of motion in robotics: linear, angular, and circular, each with examples such as conveyor belts, robotic arms, and drones. It also describes three types of joints—prismatic, revolute, and spherical—highlighting their degrees of freedom and applications in robotic systems. Additionally, it discusses the significance of links and joints in determining a robot's motion capabilities and the concept of degree of freedom (DOF) as a measure of a robot's flexibility and task performance ability.

Uploaded by

PRV The B.O.S.S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
3 views

Types of Motion_joints_links-2

The document outlines three types of motion in robotics: linear, angular, and circular, each with examples such as conveyor belts, robotic arms, and drones. It also describes three types of joints—prismatic, revolute, and spherical—highlighting their degrees of freedom and applications in robotic systems. Additionally, it discusses the significance of links and joints in determining a robot's motion capabilities and the concept of degree of freedom (DOF) as a measure of a robot's flexibility and task performance ability.

Uploaded by

PRV The B.O.S.S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 4

Types of Motion:

Linear motion:
This type of motion involves movement along a straight line. Robots with linear
motion can move forward and backward in a single direction. An example of a
robot with linear motion is a conveyor belt system that moves objects from one
point to another in a straight line.
Angular motion:
This involves rotation around an axis. Robots with angular motion can rotate
parts or their entire body around a fixed point. An example of a robot with
angular motion is a robotic arm that can rotate its joints to reach different
positions.
Circular motion:
This type of motion involves movement along a circular path. Robots with
circular motion can rotate around a central point while moving in a circular
trajectory. An example of a robot with circular motion is a drone with rotating
propellers that allow it to hover and move in different directions.

Types of joints:
Prismatic joint:
A prismatic joint is a connection between two objects that allows relative
motion along a single axis. Motion that’s perpendicular to this axis (or rotation
about any axis) is prevented. This means the joint has one degree of freedom (1-
DOF).
Revolute joint:
A revolute joint, also known as hinger joint, is a type of mechanical joint that
allows rotational movement in single plane. It consists of two components, one
of which rotates relative to the other along a common axis.
Revolute joint allows rotational motion about a single axis. This means the joint
has one degree of freedom (1-DOF). Revolute joints are commonly used in door
hinges, robotic arms, and other applications that require rotational motion.

Spherical joint:
Spherical joints are used in applications that require a high degree of flexibility
and freedom of movement. They are commonly found in humanoid robots,
where they enable lifelike movements of the limbs and body. For example in a
humanoid robot designed for search and rescue missions, a spherical joint could
be used at the hip. This joint would allow the robot’s leg to move freely in
multiple directions, providing the mobility and agility needed to navigate
through complex terrains.
Types of links:
The combination of links and joints in a robot determines the type of motion it
can perform. For example, a robotic arm with rigid links and revolute joints can
replicate human arm movements, while a robot with soft links and prismatic
joints might be used for tasks that require squeezing or flexing.
Rigid link:
A solid, inflexible connection between two joints. For example, the arm of a
robotic crane.
Soft link:
A flexible connection that can bend and twist. For example, the trunk of a soft
robot. Relevant examples for each of the above: These concepts can be
illustrated with various real-world examples, such as robotic arms in factories,
humanoid robots, or soft robots designed for delicate tasks.
Using links and joints to create specific motion
When analyzing a robotic system, it’s important to identify the types of links
and joints used, as this will give you insight into the robot’s capabilities and
limitations.
Degree of freedom of a robot
Definition: The degree of freedom (DOF) of a robot is the number of
independent movements or parameters the robot can control. It is a measure of
the robot’s flexibility and capability to perform various tasks. Identification
through illustration: The DOF of a robot can be identified by analyzing its joints
and links. For example, a robotic arm with three joints that can each move in
one dimension would have a DOF of 3. This concept can be illustrated with
various robots, such as robotic arms, drones, or humanoid robots, to show how
the DOF affects the robot’s ability to perform different tasks

You might also like