Robotics

Department of Electromechanical Engineering

Module 4
Joints & End-effector
Introduction to Kinematics

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 Course Learning Outcomes

When I complete this module, I want to be able to do

• CLO: Classify revolute and prismatic joints of a Robotic

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 Kinematic Chains

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• To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings.
2) Carry out different tasks: Locomotion or manipulation, do something
Physical–such as move or manipulate objects

3) Re-programmable: can do different things

4) Function autonomously and/or interact with human beings

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 Robotic Terms
• Links: Links are rigid bodies that gives structure to the robot.

• Joints: Joints are the movable parts(actuators) of the robots that connects the links of the robot. Joints cause relative motion
between adjacent links.

• Kinematic chains: Kinematic chain is the assembly of links connected by joints to produce a desired motion. Human arm is
an example of a kinematic chain. Human body is a group of kinematic chains connected in series.

• Degree of Freedom (DOF): Degree of freedom in robotic is simply the total number of independent joints which can change
the pose of the robot. If you take a human arm from shoulder to palm (fingers not included), arm has 7 DOF. Try to identify the
joints yourself (Hint: Shoulder alone has 3 DOF).

• End-Effector: End-effector is the last link of the robot arm or manipulator that interacts with the environment. The last link
can be gripper tool to do pick and place actions or a welding gun or simply a magnet.

• Workspace: Workspace is the space in which your robot can work i.e., all reachable points by the robot's endeffector
constitutes to workspace.

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Joints: Linear and Rotational
Joints
Link and Joints
Components Of Robotic System
Connectivity / DoF of a Joint
DoF of a Joint indicates the number of rigid bodies that can be
connected to a fixrd rigid body through the said joint.
• Joint with One DoF (Revolute Joint, R)
Prismatic Joint (P)
• Joint with One DoF
Cylindrical Joint (C)
• Joint with Two DoFs
Hooke or Universal Joint (U)
• Joint with Two DoFs
Classification of Manipulators
Based on Configuration (Coordinate System) of the Robot
Based on Mobility Level
• Serial Manipulators • Parallel Manipulators
1. Cartesian Coordinates Robots (PPP) or (SSS)
• It is form by 3 Sliding or Prismatic joints, whose axes are coincident with the X, Y
and Z planes. These robots move in three directions, in translation, at right
angles to each other. Cartesian manipulator is useful for table-top assembly
applications and, as gantry robots for transfer of material and cargo.
• Linear motion along 3 different axes
• Suitable for Pick and Place type of Operation
• Rigid and accurate
2. Cylindrical Coordinates Robots (TPP)
• For cylindrical type manipulator, its first joint is revolute which produces a
rotation about the based, while its second and third joints are prismatic. The
robot arm is attached to the slide so that it can be moved radially with respect to
the column.
• Used to handle parts/objects in manufacturing.
• 2 Linear axes and 1 rotating axis
• Can reach all around itself.
• Cannot reach above itself
3. Spherical or Polar Coordinates Robots (TRP)
• The first two joints of this type of manipulators are revolute, while its third
Joint is prismatic. It used for a small number of vertical actions and is adequate for
loading and unloading of a punch.
• One linear and 2 rotary movement.
• Used to handle parts/objects in manufacturing.
• Can pick up objects lying on the floor.
• Cannot reach around obstacles.
4. SCARA Type Configuration (RRP or PRR)
• The word SCARA stands for Selective
Compliant Articulated Robot for Assembly.
• There are two type of SCARA robot
configuration: either the first two joints are
revolute with the third joint as prismatic, or the first
joint is revolute with the second and third Joints as
prismatic.
• Although some of the SCARA robots have the RRP
structure.
5. Revolute or Articulated Coordinates (TRR)
• Also called articulated manipulator that looks like an arm with at least three
rotary joints. They are used in welding and painting; gantry and conveyor systems
move parts in factories.
• Used to handle parts/objects in manufacturing.
• Can pick up objects lying on the floor.
• Cannot reach around obstacles.
Degree of Freedom of a System
• It is defined as the minimum number of independent parameters /
Varaibles / coordinated needed to describe a system completely.

• Notes:
A point in 2D (Plane) : 2 DoF in 3D space: 3 DoF
A rigid body in 3D: 6 DoF
Spatial Manipulator: 6 DoF
Planar Manipulator: 3 DoF
DoF: 2D 3D
• Redundant Manipulator:
• Either a Spatial Manipulator with more than 6 DoF or a Planar with more than
3 DoF.

• Under-actuated Manipulator:
• Either a Spatial Manipulator with less than 6 DoF or a Planar with less than 3
DoF.
DoF
 Approach II: DoF of a Manipulator
• Chebychev-Grubler-Kutzbach Criterion:
𝑱𝑱

𝑫𝑫𝑫𝑫𝑫𝑫 = 𝑴𝑴 𝑵𝑵 − 𝑱𝑱 − 𝟏𝟏 + � 𝒇𝒇𝒊𝒊
𝒊𝒊=𝟏𝟏
Where,
M = 6 for Spatial (3D); M = 3 for Planar (2D)
N = Total number of links including fixed link (or base or ground)
J = Total number of joints connecting two consecutive links
𝑓𝑓𝑖𝑖 = Degrees of freedom at the 𝑖𝑖th joint
Mobility/DOF: Serial Planar Manipulator
 JOINT DOF

Redundant
Mobility/DOF: Parallel Planar Manipulator
Parallel Spatial Manipulator
Lower base: each joint has 2 DOF , 6-ci=4, we have 6 joints : 6X4=24
Middle structure: each prismatic has 1 DOF, 6-ci=5, for 6 joints= 6X5=30
Upper base : for one ball and socket DOF=3, 6-ci=3, for all 6 joints=6X3=18
Then 24+30+18= 72 (above)
Workspace
• It is the volume of space that the end-effector of a manipulator can
reach.
• Dextrous Workspace:
- Volume of space, which the robot’s end-effector can reach with various
Orientations.
• Reachable Workspace:
- Volume of space, which the robot’s end-effector can reach with one
orientation.
Workspace of 2-link planar manipulators

• Below is a example of two link planar arms. The blue area in the fig is
the workspace of the arm.
BRU 0.01 inch/ 0.1 degree
Accuracy and Repeatability
• Accuracy: Accuracy refers to a robot's ability to position its wrist end
at a desired target point within the work volume.
• Repeatability: Repeatability describes how a points are repeated at
the same place or target.
Force
closure Form closure
rack and pinion