How many dof has a human arm?C

Y

This mechanical arm simulates the human arm

1

Shoulder

02

CFI

C

Shoulder 4 domWrist 3 dom

12

CFI

DV

Usually industrial robots have a shoulder with 3 dom(joint 3 is missing), and a

3

75

CA

–0

1 (joint 3 is missing), and a wrist similar to this one4

75

OB

OTI

C

6 Wrist

RO

Basilio Bona – DAUIN – Politecnico di Torino 004/1

Robotic arms An industrial robot has an arm and a wrist.

CY

The robot type is defined by the arm configuration, and depends on the type of joints in the arm. They are called P and R

P i ti j i t

02

CFI

C P = prismatic joint

R = rotoidal joint

CFI

DV

Robots are classified according to the following types

CA

–0

1

Cartesian 3P

Cylindrical 2P-1R

OB

OTI

C

Polar or Spherical 1P-2R

SCARA 1P-2R; SCARA = Selective Compliance Assembly Robot Arm

RO Articulated or Anthropomorphic 3R

The there are parallelparallel robots, that does not follow this classification

Basilio Bona – DAUIN – Politecnico di Torino 004/2

CARTESIAN (1)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/3

CARTESIAN (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/4

CARTESIAN (3)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/5

CARTESIAN (4)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/6

CYLINDRICAL (1)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/7

CYLINDRICAL (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/8

CYLINDRICAL (3)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/9

POLAR (1)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/10

POLAR (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/11

SCARA (1)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/12

SCARA (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/13

SCARA (3)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/14

ARTICULATED (1)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/15

ARTICULATED (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/16

ARTICULATED (3)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/17

ARTICULATED (4)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/18

PARALLEL (1)

I ll l t t th j i t

CY

In parallel structures, the joint motion must follow the constrains given by the

02

CFI

C kinematic chain This is a closed kinematic chain

CFI

DV

chain

Often this structure is known as

CA

–0

1 Steward platform

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/19

PARALLEL (2)C

Y0

2C

FIC

CFI

DV

C

A –

01

OB

OTI

CR

O

Basilio Bona – DAUIN – Politecnico di Torino 004/20