robotics and me! human arm versatile flexible 7 degrees of freedom end effector

Robotics and Me!

Human Arm Versatile Flexible 7 degrees of

freedom End Effector.

Shoulder Ball and socket Arm muscles anchor 3 Degrees of

freedom.

Shoulder - First DegreeHold arm up, pointing straight outRaise arm (shoulder) up and downFirst degree -- pitch.

Shoulder - Second DegreeHold arm out as beforeMove arm from left to rightSecond degree - yaw.

Shoulder - Third DegreeHold arm out as beforeRotate arm -- how far can you rotate??Third degree -- roll.

Elbow Joint Hinge joint Synovial cavity

present How many degrees

of freedom??

Elbow - degree(s) of freedom Hold arm straight out Raise and lower hand 1st Degree of freedom -- elbow pitch. Can you turn elbow in any other direction?

Wrist Joint Condyloid joint Attachment point for

end effector - hand Does your body

have any other end - effectors? What is attachment point?

Three degrees of freedom.

Wrist - First DegreeHold arm up, pointing straight out, hold

arm with your other hand to isolate wrist action

Raise wrist up and downFirst degree -- wrist pitch.

Wrist - Second DegreeHold arm out as before, hold arm with

your other hand to isolate wrist actionMove wrist from left to right; how far can

you goSecond degree - wrist yaw.

Wrist - Third DegreeHold arm out as before, hold arm with

your other hand to isolate wrist actionRotate wrist -- how far can you rotate??Third degree -- wrist roll.

Shuttle Arm Called Canadarm Attached to shuttle payload bay Has six degrees of freedom.

ISS Arm Canadarm 2 A lot bigger - 14

inches wide, 56 ft. long

Has hands at both ends

Acts like an inchworm

Has 7 degrees of freedom.

Shuttle vs. Station Arm

Mission Returns to Earth

Permanent

Range of Motion

Reach limited by arm length

Moves end of end with LEE’s, mobile

Fixed Joint Fixed to shuttle on one end

No fixed end

Shuttle vs. Station Arm

Degrees of Freedom

6 7

Range of Motion

Reach limited by arm length

Moves end of end with LEE’s, mobile

Joint Rotation Limited by elbow rotation

Full rotation, 7 joints rotate 540 degrees

Shuttle vs. Station Arm

Senses No sense Touch, automatic vision, collision

Mass Handling 2900 kg, upgraded to 266,000

116,000 kg

Repairs Earth In Space, redundant

Robonaut Humanoid For EVA’s Chordate Approach Fits tools.

Robonaut Arm Human scale Match 8 hour EVA Human reach and

fine motion Has to function in

space environment.