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Ls06c Robot Configurations

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9 views

Ls06c Robot Configurations

Uploaded by

engr.sheikh.tayyab
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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ROBOT CONFIGURATIONS

& MOTION ANALYSIS


ROBOT CLASSIEFICATION AND ROBOT REACH

Normally robots are classified on the basis of their physical


configurations.

Classification Based on Physical Configurations

Four basic configurations are identified:

1.Cartesian configuration;
2.Cylindrical configuration;
3.Polar configuration;
4.Jointed-arm configuration.
Cartesian
Configuration
Robots with Cartesian
configurations, consist of
links connected by linear and
orthogonal joints (L and O).
The configuration of the
robot's arm can be designated
as LOO. Because the
configuration has three
perpendicular slides, they are
also called rectilinear
robots.

Cartesian coordinate body-and-arm assembly (LOO).


Cylindrical
Configuration

In the cylindrical
configuration, robots have
one twisting (T) joint at the
base and linear (L) joints
succeed to connect the links.
The robot arm in this
configuration can be
designated as TLO. The space
in which this robot operates is
cylindrical in shape, hence the
name cylindrical
configuration.
Cylindrical body-and-arm assembly (TLO)
Polar Configuration
Polar robots have a work space of spherical shape.
Generally, the arm is connected to the base with a twisting
(T) joint and rotatory (R) and/or linear (L) joints follow.
The designation of the arm for this configuration can be
TRL or TRR. Robots with the designation TRL are also
called spherical robots. Those with the designation TRR
are also called articulated robots.
Jointed-Arm Configuration
The jointed-arm configuration, is a combination of cylindrical and
articulated configurations. The arm of the robot is connected to
the base with a twisting joint. The links in the arm are connected
by rotatory joints.
Robot Motion Analysis and Control

Manipulator kinematics is concerned with the


position and orientation of the robot’s end-
effector attached to it, as a function of time.
The kinematics do not include effects of force
or mass.
Manipulator kinematics is limited to the
mathematical representation of the position
and orientation of the robot’s end-of-arm.
Robot Motion Analysis and Control

The robot manipulator consists of a


sequence of joints and links.
Joints are named as J1 ,J2, and so on,
starting with the joint closest to the base
of the manipulator.
Robot Motion Analysis and
Control

Links are identified as L1, L2, and so on,


where L1 is the output link of J1, L2 is the
output link of J2, and so on.
Input link to J2 is L1 ,and the input link to
J1 is L0.
The final link for a manipulator with n
degrees-of-freedom (n joints) is Ln,and its
position and orientation determine the
position and orientation of the end-effector
attached to it
Joints J1 and J2

Both joints are orthogonal types, so

this is an OO robot

Let us define the values of the O

joints as λ1 and λ2, where these

values represent the positions of the

joints relative to their respective

input links
One way to mathematically represent
the position and orientation of the
manipulator’s end-of-arm is by means
of its joints.
For the OO robot, the position and
orientation are identified as:

Pi = (λ1 , λ2)

It is called joint space method, because


it defines position and orientation
(symbolized as P1) in terms of the joint
values.
An alternative way to represent
position is by the familiar Cartesian
coordinate system, in robotics called
the world space method. The origin of
the Cartesian coordinates in world
space is usually located in the robot’s
base.

The end-of-arm position P, is defined


in world space as
Pw = ( x , z )
Forward & Backward Transformation
Mapping from joint space to world space is
called forward transformation, and
converting from world space to joint space is
called backward transformation.

The forward and backward transformations


are readily accomplished for the Cartesian
coordinate robot, because the x and z
coordinates correspond directly with the
values of the joints. For the forward
transformation.
x = λ2, z = λ1
For the backward transformation
λ1 = z λ2 = x
A two degree-of-freedom robot with
configuration RR.

Let us define the values of the two


joints as the angles θ1 and θ2

where θ1 is defined with respect to the


horizontal base, and

θ2 is defined relative to the direction


of the input link to joint J2,

So,

P1 = (θ1 , θ2 )
Forward Transformation:RR Robot

x = L1 cos θ1 + L2 cos(θ1 + θ2)

z = L0 + L1 sin θ1 + L2 sin (θ1 + θ2 )


For most x-z coordinates in the RR robot’s work
volume, two alternative pairs of joint values are
possible, called “above” and “below.”
Backward Transformation: RR Robot

Using “below” configuration, values of


θ1 and θ2 are estimated from;
Forward and Backward Transformation for a Robot with Three Joints.
•robot is still limited to the x-z plane.
•origin of the axis system is at the center of joint 1 rather than at the base of link 0 to
simplify the equations.

wrist
wrist

elbow

shoulder
Forward Transformation for a Robot with Three Joints.

For the forward transformation, compute the x and z coordinates in a way similar to
that used for the previous RR robot.
Backward Transformation for a Robot with Three Joints.

For the backward transformation, define α as orientation angle; it is the angle made by
wrist with horizontal. α = θ1 + θ2 + θ3
First find co-ordinates of J3;
Backward Transformation for a Robot with Three Joints.

From the values of x3 and z3, find θ1 and θ2 as follows;

Finally, value of joint 3 can be


found from;
A Four-Jointed Robot in Three
Dimensions:
Most robots possess a work volume with
three dimensions. Consider the four
degree-of-freedom robot. Its
configuration is TRL: R. Joint 1 (type T)
provides rotation about the z axis. Joint 2
(type R) provides rotation about a
horizontal axis whose direction is
determined by joint 1. Joint 3 (type L) is
a piston that allows linear motion in a
direction determined by joints 1 and 2.
And joint 4 (type R) provides rotation
about an axis that is parallel to the axis of
joint 2.
The values of the four joints are,
respectively, 1, 2, 3 and 4. Given these
values, the forward transformation is
given by:

A four degree robot with configuration


TRL:R.
Forward Transformations in A Four-
Jointed Robot in Three Dimensions:

A four degree robot with configuration


TRL:R.
Backward Transformations in A Four-
Jointed Robot in Three Dimensions:

In the backward transformation, we are


given the world coordinates x, y, z, and α,
where α specifies orientation, at least to
the extent that this configuration is
capable of orienting with only one wrist
joint. To find the joint values, we define
the coordinates of joint 4 as follows,
using an approach similar to that used for
the RR:R robot analyzed previously:

A four degree robot with configuration


TRL:R.

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