Unl<s and Joints

ti1J~"J!fil..JJ!;ruiUW tilitiliif , . ~
_ , tUfflWl:l·DU3!ilti~t Difrercnt robols have different purpose an<l functionalities.
» Factors determining the Basc<l on the roles, functions and enviro11mcnl in
anatomy of a robot
which it is supposed to work, capabilities of a robol arc
»- Different typ~ of motion formulated. 'TI1at's where the anatomy o(the robot u,rncs
e>d1iblted by robots inlo play. Underslanding the anaLOmy of a robot hdps the
..,_ Joint and its types en gineers lo comprehend the physical structure of the
» Unks and it$ types robot aml equip it with necessary mechanisms so that lhc
» Ql!g-rees of fr robo t meets the pre-defined set of tasks in optimal rorm.
» Dlff~rent Understanding the anatomy of a robot is l'.rncial .-1s
~flgu of il gives an insight into how the components function.
}Otrits U$ TI1is also provides knowledge about the mcchanic;.\l
principles, kinematics and dynamics of the system. 'Ihc
ineers the various factors such as locomotion or mobility. the
mber co known as the Degrees of Freedom) the robot will have
cess to, p ins, stability, etc. According to the pre-requisites, the
cmnponents as control needs to be designed. These components need

3 Head tactile sensors

4 Microphones - -

2 RGB camera

· · ·atsliosors
lioone s

ed
-~.
c1.rranged in a par tic ul a r sequ ence lor th e proper nmI <~p l11na
· l pt''.forni.\nn' l 11 llic rnhut \\c
,uh! take into account the rollow ing con sid eratio n s before tks1gnmg ,, rohot.
l'ask. requirem e nt, pn:c isio n and acc rn acy
Environm ent o( work (e nvironm ental co ndit io ns such as tcrnpcr,,turv, hunudity, l'lr.)
P,,yload capac it y (maximum wt> ight a robo t L.an handle)
Range of motion and sp eed
Choice of end effector
Safety (meeting regu latory slnndards)
wer so urce

tegration w ith the exi sting syste ms (ensmin g Lha l th e robot l.111 work with ntlwr syskms)
t (buildi ng and main tenan ce)
'bility (reprogrammable)

n of a robot involves various types of motion , wh ich arc lkscrihct\ hclow.

nslational motion: W h en a body moves from one lou.,tion lo a nut her, i.e., all l hl·
in the body m oves in the same direction, the motton is known ~\!-. lrans\at1on,\I
. In this kind of moti on, the body does not rotate. In context or robot ks, l lw, l ypl'
is observed in transport of materials in a conveyor hell, ptd-..tng up ,\l\ ohJl'l l
location and placing it in another location
motion: When a body moves around an axb or a centet point, the 1110110n
nal motion. In thi s type of motion, the object rotates or spins itt ,, u1 uil,u
ic systems utilise rotational joints that allow cont~)(H\ents to rnl,\k ,\1 mmd
h provide rotational motion, often resembling the mowmc1tl ol human
o,r knee.

s type of motion, the displacem en t of a body occurs in a slr~light

slational as well as rotational motion. A simpk example is
the wheeled rob ot moves forward by the rot,1tional mol ion

--fro motion of a body about a fixed position is C,llled

odic motion . For example, the motion ut a bob ot a
'bits oscillatory motion. In robots, the osci\latnry
d actuators, which h elps in movement of the

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link 1
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Joints can be cost cllcdivc, t•spt•c ially in 111ai-s produt:1ic111 ,q,1,l k.tl 1<,11
te Joints allows rotution,11
1 11., >0
That s why, they ;.1re cllso
int. The revolult' joints
ber and the rotating
move relative to tlw I ollcrm r

t of a revolute
of rotation. It Axle Direction

sent by the
 h. Simplicity: Rcvolutc joints arc cttsy lo conlrol and
,11 tuatcd ming various actualors. 'Ihcsc. joints are

nwd1ankally simple and easy lo design, which can

r,·dw c 111,11111/adurillg cost!,.
c. Fncqni dlicicncy: ·1 hcse joinls uftcn allow efficiency
i11 power transrnission.
d. lligh precision: ·1 he design ol rcvolutc join ls can
prnvidc high precision in cnnlrolling the angle
of rolation, which is very imporlanl for many
applkations.
c. Safety compliance: Rcvolutc joints can also be
dcsigncJ with damping mechanism which can absorb
sudden shock and provide safety.
:t s,,hcri<.·~I .Joint: Spherical joints provide accessibility
lo three different co-ordinates, namely X, Y and Z co-
ord inates. These joints are also called ball-and-socket
joint s. There are two mai n components of this joint: the
ball clement and socket element. The ball element is a
ball-shaped component that is free lo rotate within the
ckct. 'The socket is the housing or cavity that holds
ball. 1he ball and the socke t are mounted in two
erent parts of the system or base.
human shoulder is a common example of ball
socket joint, allowing the arm to move in multiple ,
·ons. Prosthetic joints also utilise this joint to
the movements of natural joints. 1n robots,
sand end effectors utilise ball and socket joints to
versatile orientations and grasping capabilities.
,, these joints arc used in driveshafts and
cf)f the transmission system.
spherical joint are as follows:
spherical joint provides a full range
all three axes. This versatility is
range of motion is required.
These joints enable complex
suitable for applicati ons
connected object needs
ilions.
spherical joints allow smooth and continuou•
for precise and controlled movements and alsi

ted into various designs, making them

 t.'. Shn~ 1, nh,orption: In some design~. the ~phcrical joints can provide a degree of shock
,1bs,,1 ptwn. makmg. tlh' m useful where impact c,m be of very high degree.

links rekr~ tn ,l rigiJ or tkxihle ,:ompnnents that connects

\ll joint.... Links, ,,long with joints, constitute the structure
I J H,bllt. Links ,m' solid, straight or curved components
that provide st,,b1ht) ,md structural snpport to the rohot.
nks ,\fe made of materials such as metals, alloys or
mpo,ites for strength and durability.
Links connect various segments or limbs of a robot,
·ng the robot's body and providing a frame,vork for
ent and manipulation. Depending on the type of
connecting the links, the robot gains the ability to
m specific \\ays. The combination of links and joints
the range of motion of the robots.

e links used?
an providing framework to the robot, there are
er uses of links. Some of them are given below:
ys a role in distributing the payload and managing
exerted on the robot.
of the robotic arm often includes the end-
can be used to carry out specific tasks,
• •
an object, welding or sensing.
as Articulated and Flexible links)
to the robot shape. 1his enhances
t, that operates in complex

motors responsible for

in robotics.

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~nJ;ra~M [(;l lAili i-llj €t~ U-Jildl]

l lw deg rees oC rrcedo 1u rdcr lo the lllllllbc1 or
in<lcpL'lH.i ent ways a robo t can tn ove in a workspau'.
Eac h dePrec of frce d on1 corresp on d& lo ;i SJH'<. if1c
mot;on ;; ,. para m c tc,· th at c hnn,clt•.-izc, the rohot's
~nfiguration . Degrees or freedom rcprcsl.!nl the
her of ind e p e n de n t moveme nt s or tolations that
y or sys te n1 ca n in akc.

rovi<les frecd o1n or m ovl.!nlcn t for lhl·

tor which ca n b e ei th er I o La Liona l or
nal. Eve ry geom e tr ic axis th ro u g h which
rotate or can b e exten d ed l o is <.:ountcd as
f frecclo111. · □1e
number of axes the joints 1. Wn1r,t rol,lhlJIJ

on to attached links genera ll y c.lctcrn1i11cs

s of freedom for a joint. In simp le words,
ts the numbe r or ways a robot can
ion itself in its working s p ace. Higher
greater flexibility in pe rforming a
. DoF enables a robot Lo p erform
s.uch as reaching, g r asping, and
three -dimensional space.

atic joint allows th e ro bot Lo tnovc alo11g a straight Ii'"'· COtJI rih,1t i ng
multiple pri sm a ti c Joints along di!icre111 axes, <·ach "lie add

robot can rotate arnu nd a n axis, co11trib uti 11g Lo 1 c "' ,tt 1., , 1
O 1 1 11 1

'c joint aud rcvolutc joints has both lra11, latio11al and
to the overall tnobilit y of th e robot i II its Work,s p,1 n·
 ~

Jllla er''·')tc) ,l,1-;s1fy rohuls is by the area they ca n reach, also known as tht 'wo,k c:nvt'lopC:

1nmb and links ,llt' LnnneLled in se rif's or parallel to create a specific m(,vm1ent in a
.,._~ !.I<-
·--n-.Dcp1.:1hling 1111 the tnl,11 numlwr of links an<l joints, tlie IJul; i~ determined. I !ere are the
:.umt1011, 111 11)h 1 1ti1~. b,1sed on till' work envelop and the combinations of links and joints.
'.u ttu;,1,lll l'01tfigm atio11: C1rtes1an robots, also known as
·he Gant!') robots, have a cuhic or rectangular work envelope.
rhesr rt)bot~ are l'har.1ckrized hy their use of the cartesian
oordinate~ (X, Y, Z) to control their movements. Cartesian
,>bots can mov~ in a straight line along each axis. These
1bots t,11ically have three linear joints, each corresponding
one of the cartesian axes. The basic configuration is
presented as P-P-P, where 'P' stands for a prismatic joint.
This configuration allows the robots to have three DoF. The
e of these robots is typically stationary and the robot moves
e end-effector (payload) along the linear axes. Due to the
ightforward kinematics, the control and programmmg of
e robots is simple.
esian robots are known for their precise positioning
bilities, making them suitable for applications which
ire accurate and repeatable movements, such as pick-
place objects in a controlled manner, material handling
, 3D printing, electronics assembly, packaging, etc.
n example of the cartesian robot is the Teva Tarantula I Cb
I

ter. I : Configuration \

·cal configuration: Cylindrical robots have a I I

--
envelope. These robots have a rotary axis on the \ I
robot, allowing rotational motion, combined I
·on along that axis. The configuration is often
.P-R, where 'R' stands for revolute joint (for
I
and 'P' stands for prismatic joint (for I \
I
ination of these joints enables the
~--- - - - - _J
coordinate system, allowing both
along a radial axis, providing

ecise positioning and

can be employed
ot needs to pick
d place them
packaging,

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Articulall'd configuration: In t hill type or robot, multiple rnlary joints, 11s11all)' tT\ 1 \o.H!.
joint arc employed providing lkx ibility and ,, widl' ran8l' of 1110lion.
'lhe movement or these ro hols mimils
tht.' human arms. 'l he conligurnlio11 of an
artkulatcd robot is represe nt ed by R-R-R ll It
where a series of revolutc joints arc used. 'lbe
DoF in an articulated robot depends 011 the
umber of joints used. Each rcvo lu lc joint t \!
ntributes one Dof, providing the robot with I
ability to move in multiple directions. 'the
'(){ the arm typically features an cnd-cflcctor, mainly gripp\.'rs.
d robots are highly versatile and capable or pcrlorming complex movcnh:nt s. ~
a wide range of positions and oricntalions, m,lking tlu.·111 suitable rm di ~
such as industri.11 automati on which includes painting, welding, pkk t\.Wi.
, packaging and surgeries.
of configuration includes ABB lH.B 6700.
tion: SCARA stands Cor Selective Compli,mcc J\rliLUlatcd Rr ho\-
linear motion with rotational motion of ,\11 articulated ~Y ' ~ 1
Axis 1 and 2 nwvr in a rotational 111,mnl'r and axis ~ r ow
ipulate the tooling position. The l yptrnl rnnligu1 atim fu.,
-P-P, where the tirsl two joints arc n:volutc jointi; { ~) ,
1 The DoF of a SCARA robot is four.
al plane and alsn adapt well lo surfaces that ~
for 3D printing applications. 'I hcsc robot!: ~
, packaging, cl eel ronics assembly (w\ eN.
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Jul11te,l-11rm SClll'/I

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-Ve to be verified and uploaded in the /\rdu1110 Uno 11•,i111: I ht

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delay based on the lime il takes to close thP lid

 J
e an;nomy ol ,1 whot dt' lll'lld'> on IMtlllS likt' t,,sk 11•q111rP11w1H , P11viio1111wnt of Wllil•, p,1yl(11d
;,wry, r,rngl' ,rnd \\H'l'd o! 111otio11, si1f Pty, <•tc.
e type ol mM 11m exhibit1 d by mhnt ~ inc ludc>, t ransl.lt 1011,11 n1ot 11111, 101,u1011,il 1,,ot inn, li111•,11 111011011
1

d osc1lla1ory rnntio11.
:lt is a rnec.h.:11111 ,11wn1wct io11 t11,ll ,1llow~ two p,u ts of,, 1obot to 1110vt• n•l.111w to 1·,1Lli 01111•1. lo till',
vide the robot with thl' ab1lit y to mow, bend, rot ,1t<' ,Hl<I , li.111gl' It .., 01wnt.n1011. Joml ', ,111· .il'>o
~tppecl with semors 1h;1t p1ovide rhe position t11Hl one11tation to the rnntrol \yst1•1 11 11wch,111h111
i\lS are of three types: Prismatic joint (provides lmear 111011011 along a <i1nglt• ,1xi,), l~1•voh1t1• 111i11t
:vws rotational mouon around a single c1xis providing 2D 111ovP111P11t) ,111cl splwrn ,11 jo1111 (prov1dv\
robot to access 3D space).
ls are the nexible components that connect two joints. Tlwy provide '>t,1hi li1y .111d ~tnic tu1,1I
port to the ro bot.
s are of two types: Rigid link (stiff and resistant co deforn1,1tion) and I ll'x1bh: 11111< (1111dl'1 go1•s
rmaLion when subject co external forces).
ees of Freedom (DoF) refers ro the number of independent ways a robot c.111 mov1• i11 ,1 w111 l
. DoF represents the num ber of independent movements or rotation~ th,ll a body 01 SY',1r111
undergo.
on the types of joints used, robots can be categorized into hve IMs1c to11f1gur.1uo11s. Cnt1%111
uration (rectangular work space), cylindrical configuration (cyl111drical envelop), ~pheric ,II
ration (spherical work space), articulated conf1guratio11 (multiple ro1at1on.il rnouo11) ,111d
(combination of cartesian linear motion and rotational motion).

steration of safety crucial in a robot's design?

tjon is essential to protect humans and other equipment from potrntial l1;1z,mls
robot's consideration
and control an important consideration in robot design'?
ines how the robot is operated and programmed lo pL'rlor111 tasks,
and versatility.

on positions, angles and other variables, enabling control

ot impact its degrees of freedom?

ees of freedom , infl11encing the robot's ability to

s of joints?
electric motors for rotational joints and

movements, sul:h as pick-and

,, ?ffl lid% '1 WC:

. . . ,,f materials impact the prismatic joints? IT

7. 'II low
An,;. he dioiu~ ol du11cc
docs the malt'rial:, for . • i'Jc. joiJJJs. influences factor·, like wci ght , dun, H 't y
. pnsrna
rc·,i slancc• lo \\Tell and leat.
8 1 from prisma Itc
.. t d'ffcr • • ts?.
• Jorn .
" . !low do rcvol11tc
I'. Jl11lc1'nints allow '
10111rntnlional . whereas
mol1on . . t'c
, pmma J
joints enable linear mol1nn.
nil',, ,nr . . l ?
?. What type of actuator ". lyp1ca . I Join
. ll y us·ed lo <lrivc revolutc s.
. ints
Ans. Elcllrk molors and scrvns arc commonly used fm ievc, utc JO ..
l .. t. loycd in a robotic system?
,\ ns. I),<·,·olntcarc
10. Where rcvo arc
.ioinlc; . . lators
cmp,n robot a,.ms,. malllpu
10111 sused
utc oflrn ' and olher mechanism req11i11
rol,llional molion.
. . . , of ·t spherical joint in a robot?
WJ1at
11. A
Ans. is thejoint
spherical pr1111ary pm pose
provides .. ' lo rot al(. .,111 d nwvc freely in multiple directions, enhan a
the ability
the robot's flexibility.
12. Wh}' might a robotic system incorporate multipJe spherical _joints?
Ans. Multiple joints provide increased degrees of ree om, a owmg re ,
movements and orientation. •f d II )bots to achi eve comp

B . What are the advantages of using spherical joints in robotic systems?

An,. Advantages incl ude increased flexibility, a wide range of motion, and the abilily to re,
different orientations wi thout changing join! position.
14. What is U1e primary function of a link?
s. 'fhe primary func tion of a link is to transmit motion and forces between connected joints
5. How does the length of a link affect a robot's reach?
• Longer links contribute lo a larger reach, allowing the robot to cover a wider workspace .
• What is the utility of using different types of links within a robotic structure!
Different types of links accommodate va1inus functions, such as providing stab iii ty, sup po rt 1•
payload or extending and retracting the work envelop.
at is !he limitation of cartesian robots in terms of llexibilityl
lesian robots have limitations in tasks that require complex or curved movem ents compar
ts with more rotational degrees of freedom.
e of joints do cartesian robots use?
robots typically use prismatic joints.
primary advantage of a cylindrical robot?
ots rtical tasks that involve reaching height, or positions wil l
or rotational inmovements.
are advantageous

· · g feature of a cylindrical configuration!

psause a combination of radial distance, angle and height lo spe,
three~dimcnsiona] space.

~ cylindrical configurations beneficial?

lllgsin1s applications
™:ial required.
such as Welding, packaging and ta,

a purely revolute robot?

axis, spherical robo ts can rotate freely in mulliJ
\\ l\A\ h l\H ,\~nUh m, 1.. ,,, \l,,• ,, n~,
\tun\ lo 1u, l1I lll ol nh•,l , nhot !
,, t \\ \'"''"" n\,\l\h'Hil 1\c ,1'1,ltt\ n, th,· 1111t11t,,11,111 111 1111 1..·111 11•1!1 •, 1111 ,, 111, 1111111);
, , ,, -. \ \ \\,1\,\\ h' \t \\ h d11h 1, nt \Ill h ,
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\\ \\\ ,,h \\\\ \\ c· ,\\ ",, \It\ \11\,,,1 i , ., 1\w11 • \H1•,I 1111\ \'ll'• t ,11 111 111l11111111111 ,d 111,1vi' IIH.'. ttll,,
\ht , ,,.\\ \\lh ,\ \11\ \I\, hi, ,h'H'll thl ) t1l 1'\1•( j111111, l 11111po111•11h

, It I HHi \ ( \l,u1 l I 111 • 1 I 1, • I Oj ,I Uill l

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h. l :,•111·1,1k puWl'l
')
. \\ \ft"ll·~ I \\IHh'l th it}' d. '1'1.111sn1il 11111\11111 lwlw1·1·11 lin k• .

h hp, ,lt 1olnt .,Hn,,s 1111.11i,m.1l \\\nth111 ii\ 111\mth ~·?

Nll,Hh 1\1int h. I itw.,r j,,inl
d. Sl'lwrh .,1 jrnnt
....,-,_,,..., 1~ th,· pt m,.u) 1\11h·1i,,n 1\1' tlw wn~\ j11i\\l in an .,rtil 11\.1kd r1)hnl?
Pro\ld\ )nw,ll 11h1\ l'nwn\ h. 1:nh.11h'l' st.1b1lt1y
rc,h h d. \l\nw ,1ddi1 lllnnl rnl,1li1111.ll lkxi\iili1y
lt.'rm \l:-l'l\ l{lr 111.\\:ttn\lm \\'l'ii~hl :1 rnhol r,\I\ suppurl !
d '-"P·'l 1t,· h. Sp1.•t•d limil
f motion
sensors pt,y in ,1 l'l)hutk jnin\?
r h. Pn.wid1.• t'cl.'dh.11..\.. on \H)Siliun ,11,d 11H1\io 11
._\. S1on.• in form,11 ion
of fret>lfom ll )1)\:) lll' ,\ rnhllt lklern,inc..·d?
of links in ,\ roh, )\ l), \--.y
1
I \ \l' 1\\\1\\lwr ,\l\ll l)'j'l'S 111 jninls i11 ., 111\i,,1
d cap,ll..il) ..,\. Hy tlw robot's t\'.h' h
ot freedom \w1wlki.1\ for ,\ rnhot?
of the robot

I W\der ,-.u,~c 1,f rno\'l'11\t'\\ls

city.
ot n~cl\ tn mt,, 1.' t'r,·l·ly in a .\l) S\'•""':
' 1.l. I

87
10. In a pol:11 rnnflgur,1lio11, what lypc of 111ove111t·111s do(", 1lw rnhot c·xltil>il(
a. Rot at ion.ii 111nvi:ml'llls ,111n11ul ,1 l c11t I al pollll
b. l,im·:1r ll1<,ve111e11t•, ,do11g i\X('S
c. Co111hi1wd linear :i11d rntMy 111nvc1nc111s
d. l'la11ar 111ovt 111c·11ts i11 a horizn11t;tl pl.11w
1

11. Whal is the pri111:11 }' :idvantngt' or ,11 ti( ttlat(·d rnlioh?
,I. I [igh spcul i11 lwri,.011lal 11wv1•111r11lr; Ii. Hexd,ility and pl('lJ<;j ill II> r; pa n
011
<..:. Simplt1.it~ 111 l'o11t1ol d. J\hilily to 11.iv1g,1lc 111 1;c,r1fi11 i: d spal<'
]2. What docs S( :AH/\ sla11d 101 in roholil s?
:1. Sph('rkal Conlig111;1tio11 and llola1 y J\.t1io11
h. Systcm,1t1r ( :ontrnl ,u1d RohotiL J\uto111.1tio11
l , ~l'qtH.'ntic1l Control fo1 Automated Robotics Ann
d. Sdcctiw Complin 11cr J\rtirul:1trd Robot J\ r111

I• lh,•1 Iii,• lnllcm iian '> I 111 IIH'i •! (, II 1• I 1 111 Iii I .1 1• t',
t. A link in a robot is ii sensor.
2. lhc configuration of an nrticu lated robot is represented by R R P P R, where R rl'p1t
revolutc joints and p represents prismatic joints.
3., Redundm11..: y in degrees of freedom allows a robot to ovcrcoll\c obstacles and ,1dar
dtanges.
le links exhibits sliffncss and dc!onnalion when subjected to load.
·cal joints have three Dol 1s. J
rs can be housed in side a link. I

configuration uses three revolutc joints and a prismatic joint.

-effector in a robotics is a component thal connects links.
of an articulated robot is four.
g is required for manipul aling the work space of a robot.

asoni111~ ha•,:d (lll('Slio11.., (( 'hoo<,c' llw t \ 1111, I op l Hm ):

number of joints in a robot is directly related Lo ils degrees of frcedon

in a robot introduces a degree of freedom.
· n and reason arc true, and the reason is the correct explanation of
·1
and reason are true, but the reason is not the valid cx.pl,11rnl iol' , E
• 11
[}

• 11
d in cartcsian configuration in robotics. E
motion. - H
e, and the reason is the LOrrccl cxplanalio11 of t
l1

but the reason is not the valid cxplanaUon In

c. '\he as~crt,on is true, but the reason is false.
(\. ·1 hl'. assertion is fabe, but the reason is true.
i\sser\ion: Carlc~ian conf1guration in robots is employed in linear 1novcment<; along X, Y,
and z axes
Reason! Cartesian robots have -:,phencal joints lhat enable them to move along three mutually
pt>rpendicular axes.
a. Bolh the assertion and reason arc true, and the reason is the correct explanalion of the
assertion.
b. Both the as~erlion and reason arc true, but the reason is not the valid explanation of
the assertion.
c. 'The asserlion is true, but the reason is false.
d. 1 he assertion is false, but the reason is true.
Assertion: The polar configuration is often represented as R-P-R, where 'R' stands for revolute
)oint and '1)' stands for prismatic Joint.
Reason: Pohr configuration is used for pick-and-place of materials.
a. Both the assert1on and reason are true, and the reason is the correct explanation of I he
assertion.
b. Both the assertion and reason are true, but the reason is not the valid explanation of
the assertion.
The assertion is lrue, but the reason b false.
The assertion is false, but the reason is true.
rtion: SCARA configuration is preferred in applications that demands fast an<l precise
izontal movements. . . . .
on: SCARA robots have two parallel rotary joints that enhance their speed and pt ec1s1011
rizontal motions. . f
·
th the assertion an d reason are t rue, and the reason is the correct explanat10n o the

ft:ion. assertion and reason are true, but the reason is not the va rH.l exp l ana t"ion <
>
f
n.
n is true, but the reason is false.
is false, but the reason is true.

tion ·
oscillatory motion. Justify.
a robotic system .
~ overall funcli.onality of the robot?
of freedom in robotic joints. _
freedom impact the versatility of the robotic system {
es of a polar coordinate system.
act its overall performance and capabilities?
articulated configuration?
used and why?

89
 - ~-----------------------lf1]
an ,\ l)\,\ication
of tlcxih\e \ink.
i,ptt ( . ' . ' .
,a, · .1 c t\\() (.\ttkrcnl In1 cs ol 11101.tons 111volvcd in construction of a robot.
(1CSC1 I )
(1 (Sample P,tper:.
,,,\th111 ,m, one area when •l degrees nf freedom Robotics arm is used.
'I ~Jl
1;• (Sample Paper ·

o' 11 h\ ()1H trnw,.

1. Wh.,t arc \he types of motion exhibited b)' robots?

2. $t,,le the three types of joints used in robotics? Briefly describe each of them.
3. g, kfly describe the various types of robotic configuration based on the types of join•
\inks.
4. To i...reale a specific motion in a robot, links and joints are used to construct the re,
kinematic chain. Define the kinematic chain and mention the steps to be followed to
a specific motion in a robot. (Sample Paper :
Define degrees of freedom. Mention any two types of degrees of freedom.
(Sample Paper :

• 1 ) ha t..\l (!l\l' lu,11·

ompelition, a maze is designed. The competitors will have to design a robot to com-
az.e in minimum time possible.
at kind of sensor will you use for the robot?

will be your choice of actuators?