By Moshe Shoham (auth.)
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Extra resources for A Textbook of Robotics 2: Structure, Control and Operation, 1st Edition
Look at the schematic diagram in Figure 2-9, and the photographs in Figures 2-10 and 2-11. How many degrees of freedom do they have? 11 25 Structure, Control and Operation Most of today's robots have from four to seven degrees of freedom. Robots with less than four degrees of freedom are rarely seen today, and nearly no robots having eight or more degrees of freedom have been developed. Having learned to identify the types of robot joints and to calculate the number of degrees of freedom in a robot, we can now proceed to classify robots according to these data.
The axes of motion of spherical robots are shown in Figures 2-17 and 2-18. 19: The axes of motion of a typical horizontal articulated robot 33 Structure, Control and Operation Horizontal Articulated Robots A horizontal articulated robot is one with two rotary degrees and a single linear degree of freedom. This type of robot may be designated as RRP. The axes of motion of horizontal articulated robots are shown in Figure 2-19. Figure 2-20 shows another horizontal articulated robot, manufactured by Seiko.
9: This robot arm also has three axes 23 Structure, Control and Operation We will now try to calculate the number of degrees of freedom of the arm shown in Figure 2-8. 10 24 The mechanical arm From Figure 2-8, it is obvious that links can be rotated about axis 1 and about axis 2. It is also evident that the end-most link can be moved along axis 3. Therefore, we can conclude that this arm has three degrees of freedom, two of them rotary and one linear. look at the schematic diagram in Figure 2-9, and the photographs in Figures 2-10 and 2-11.