By Moshe Shoham (auth.)
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Extra resources for A Textbook of Robotics 1: Basic Concepts
47 Basic Concepts Hydraulic Drive These units, following: * * when used in robots, include the Motors for revolute motion Cylinders for prismatic motion Hydraulic drive uni ts cause motion in parts such as pistons, by compressing oil. Figure 3-17 shows a prismatic hydraulic unit. Control in this unit is accomplished by a controller that activates the valves. This causes the piston to move, creating motion of the load, because of differences in oil pressure between the two portions of the cylinder which are divided by the piston.
The robot arm performs motions in space. Its function is to transfer objects and tools from point to point, as instructed by the controller. Attached to the end of the arm is an end effector, used by the robot to carry out its assigned tasks. End effectors vary according to the job at hand. For example, in robots used to transfer parts from point to point, the end effector is a gripper. For operations such as sanding or welding, the end effector is the appropriate tool. 24 The mechanical arm All robot arms, like the human arm, are made up of a series of links and joints.
This division in to classes provides information about robot characteristics in several important categories: * * * * Envelope (that is, maximum range of motion attainable by the robot in all direc tions) • Degree of mechanical rigidity. Extent of control over the course of motion. Applications suitable or unsuitable to the type of robot. Robots can be classified by joint into five groups: * * * * * Cartesian Cylindrical Spherical Horizontal articulated Vertical articulated The code used for these classifications consists of a set of three letters, referring to the types of joints (R for "revolute", P for "prismatic") in the order in which they occur, beginning with the joint closest to the base.
A Textbook of Robotics 1: Basic Concepts by Moshe Shoham (auth.)