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28 views43 pages

Craig Ch08

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lrayanalbalawi
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We take content rights seriously. If you suspect this is your content, claim it here.
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Introduction to Robotics

Mechanics and Control


4th Edition

Chapter 08
Manipulator-Mechanism Design

Copyright © 2018, 2005 by Pearson Education, Inc.,


Manipulator-Mechanism Design
• 8.1 INTRODUCTION

• 8.2 BASING THE DESIGN ON TASK REQUIREMENTS

• 8.3 KINEMATIC CONFIGURATION

• 8.4 QUANTITATIVE MEASURES OF WORKSPACE ATFRIBUTES

• 8.5 REDUNDANT AND CLOSED-CHAIN STRUCTURES

• 8.6 ACTUATION SCHEMES

• 8.7 STIFFNESS AND DEFLECTIONS

• 8.8 POSITION SENSING

• 8.9 FORCE SENSIN

Copyright © 2018, 2005 by Pearson Education, Inc.,


Four categories of elements of a robot
system
• 1. The manipulator, including its internal or proprioceptive
sensors;
• 2. the end-effector, or end-of-arm tooling;
• 3. external sensors and effectors, such as vision systems and part
feeders; and
• 4. the controller.

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.2 BASING THE DESIGN ON TASK REQUIREMENTS

• Number of degree of freedom


• Workspace
• Load Capacity
• Speed
• Repeatability and accuracy

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.1
A 6-DOF manipulator with a symmetric tool contains a redundant
degree of freedom.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.2
A tilt/roll platform provides two degrees of freedom to the overall
manipulator system.

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.3 KINEMATIC CONFIGURATION
– Cartesian
– Articulated
– SCARA
– Spherical
– Cylindrical
– Wrists

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.3
A Cartesian manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.4
An articulated manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.5
A SCARA manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.6
A spherical manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.7
A cylindrical manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.8
An orthogonal-axis wrist driven by remotely located actuators via
three concentric shafts.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.9
Two views of a nonorthogonal-axis wrist [24]. Adapted from
International Encyclopedia of Robotics, by R. Dorf and S. Nof
(editors). From Wrists by M. Rosheim, John C. Wiley and Sons, Inc.,
New York, NY ©1988.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.10
A manipulator with a wrist whose axes do not intersect. However,
this robot does possess a closed-form kinematic solution.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.11
Typical wrist design of a 5-DOF welding robot.

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.4 QUANTITATIVE MEASURES OF WORKSPACE
ATTRIBUTES

Efficiency of design in terms of generating
workspace


Designing well-conditioned workspaces

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.5 REDUNDANT AND CLOSED-CHAIN STRUCTURES
•
Micromanipulators and other redundancies
•
Closed-loop structures

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.12
Workspace of a 2-DOF planar arm, showing inertia ellipsoids,
adapted from [5] (©1984 IEEE). The dashed line indicates a locus
of isotropic points in the workspace.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.13
Two suggested seven-degree-of-freedom manipulator designs [3].

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.14
The Stewart mechanism is a six-degree-of-freedom fully parallel
manipulator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.6 ACTUATION SCHEMES
•
Actuator location
•
Reduction and transmission systems
•
Stiffness and deflections

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.15
Band, cable, belt, and chain drives have the ability to combine
transmission with reduction.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.16
Lead screws (a) and ball-bearing screws (b) combine a large
reduction and transformation from rotary to linear motion.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.17
Simple cantilever beam used to model the stiffness of a link to an
end load.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.18
DC brush motors are among the actuators occurring most
frequently in manipulator design. Adapted from Franklin, Powell,
Emami-Naeini, Feedback Control of Dynamic Systems, © 1988,
Addison-Wesley, Reading, MA.

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.8 POSITION SENSING
•
Resolvers
•
Potentiometers
•
Tachometers

Copyright © 2018, 2005 by Pearson Education, Inc.,


8.9 FORCE SENSING
•
1. How many sensors are needed to resolve the desired
information?
•
2. How are the sensors mounted relative to each other on the
structure?
•
3. What structure allows good sensitivity while maintaining
stiffness?
•
4. How can protection against mechanical overload be built into
the device?

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.19
The optical sensor is at “O”, the center of the disk is at “C” but the
center of the shaft is at “R”.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.20
Like Figure 8.19, but with the grating lines shown.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.21
The line segment CA, representing a grating line, shown in two
different positions when shaft angle changes by θ.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.22
Dotted line through C2 which is parallel to RO.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.23
Triangle from Figure 8.22 that we will analyze.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.24
The internal structure of a typical force-sensing wrist.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.25
A link actuated through a shaft after a gear reduction.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.26
Simplified version of the drive train of joint 4 of the PUMA 560
manipulator [23].

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.27
Stewart mechanism of Exercise 8.12.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.28
A three-fingered hand in which each finger has three degrees of
freedom grasps an object with “point contact.”

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.29
Closed loop mechanism of Exercise 8.20.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.30
Linear actuator.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.31
Belt-drive system.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.32
Planar closed-loop mechanism.

Copyright © 2018, 2005 by Pearson Education, Inc.,


Figure 8.33
Planar closed-loop mechanism.

Copyright © 2018, 2005 by Pearson Education, Inc.,

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