robot mechanisms - dspace@mit homerobot mechanisms photos of various robots removed for copyright...

Robot Mechanisms

Photos of various robots removed for copyright reasons.Sony Aibo™, Honda ASIMO, robotic hands, industrial manipulator arm.

Courtesy of JPL.

Sample Return Rovers with articulated suspension mechanisms

Images courtesy of JPL.

3/16 Axle Shaft

3/16 Axle Shaft

5/32 Axle Shaft

5/32 Axle Shaft

5/32 EZ Adjustabl

eAxle

Open-Loop Kinematic Chains

Serial Linkage

Photos of various robots removed for copyright reasons.Sony Aibo™, Honda ASIMO, robotic hands, industrial manipulator arm.

Two-Branches of Open-Kinematic Chains

Photo removed for copyright reasons: ASIMO robot descending stairs.

See http://world.honda.com/ASIMO/.

Figure by MIT OCW.

(a) Prismatic joint (b) Revolute joint

Primitives of Robot MechanismsTwo Types of Single-Axis Joints

Three Prismatic Joints

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

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3

21

y

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z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

ι

Figures by MIT OCW.

Photo removed for copyright reasons.GMF Robotics M-100 arm.

Figures by MIT OCW.

Photo removed for copyright reasons.

Figures by MIT OCW.

Photo removed for copyright reasons.

z0z1

d3

z2

1

2

1

12

3

0

12

3

0

12

3

0

12

3

0

θ

Figure by MIT OCW.

Photo removed for copyright reasons.

Figure by MIT OCW.

Pros and Cons of Open-Loop Kinematic Chains

Serial Linkage

Pros• Large work space• Dexterity• (Lower inertia)• (Lower cost)

Cons• Low stiffness• Low accuracy• Rapid increase of inertial

load along the linkage• Small load bearing capacity

End Effecter

Joint 1

Link 4

Passive joints

Link 3

Point AJoint 5

Link 2

Joint 4Link 1

Joint 3 Link 0

Joint 2

Closed Loop

Active Joints

Schematic removed for copyright reasons.

Parallel LinkagePosition and Orientation

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

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S

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SS

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S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

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S

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SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Figure by MIT OCW.

Passive

Active

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Figure by MIT OCW.

Photo removed for copyright reasons.

Open-LoopClosed-Loop

Figure by MIT OCW.