Transcript ROBOTIC ARMS

ROBOTIC ARMS
Gateway Coalition - WSU
Rahul K. Shah
FUNDAMENTALS

MECHANICAL MANIPULATOR
– Can perform a variety of tasks
– also called an industrial robot
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CONSTRUCTION & PARTS
– Non-moving Base/Frame
– Links
• position and orientation depends on the coordinate system
– Joints
• allow motion of neighboring links
FUNDAMENTALS
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CONSTRUCTION & PARTS (contd.)
– End-Effector
• in our case it will be the Gripper
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TERMINOLOGY
– Workspace
• area within the reach of a manipulator
– Tool Frame
• gives the position of the manipulator w.r.t
the Base Frame
FUNDAMENTALS

TERMINOLOGY (contd.)
– Jacobian
• matrix quantity which helps with velocity
analysis using Mapping
– Joint Torques
• These are to be calculated whenever there
is a contact with another object or the need
of applying a static force arises
FUNDAMENTALS
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TYPES OF CONTROLS
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Linear position control
Nonlinear position Control
Force Control
All of the above need to be programmed via a
robot programming language.
SPECIFICATIONS

An example of standard specifications
5 degrees of freedom,
vertical articulated robot.
Waist Rotation
300º (max. 120º/sec)
Shoulder Rotation 130º (max 72º/sec)
Operation Range Elbow Rotation
110º(max. 109º/sec)
Wrist Pitch
± 90º (max. 100º/sec)
Wrist Roll
± 180º (max. 163º/sec)
Upper Arm
250 mm
Arm Length
Fore Arm
160 mm
Mechanical Structure
Weight Capacity
Maximum Path Velocity
Position Reliability
Drive System
Robot Weight
Motor Capacity
Max. 1.2 kgf (including hand wt.)
1000 mm/sec (wrist tool surface)
0.3 mm (roll center of the wrist
tool surface)
Electrical servo drive using
DC servo motors
Approx. 19 kgf
J1 to J3 axes: 30W; J4 J5 axes: 11W
J1 axis
J2 axis
J3 axis
J4 axis
J5 axis
75 mm from the mechanical
interface (center of gravity)
5-AXIS ROBOTS
CONCERNS

Typical Weight to Payload ratio :- 1226
– An arm this heavy is going to affect the
performance of the wheelchair.
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Size of links due to the size of
motors.
– Typically around 4 to 5 in.
QUESTIONS AND
COMMENTS??