![]() ![]() The first step in deriving forward kinematics is to assign frames to the links. ![]() This is the home position of the manipulator where all the actuators(Joints) are at zero positions. The black dotted lines represent the axis of rotation of the joints. This robot is known as RRR manipulator since it consists of 3 revolute joints. ![]() The blue area in the fig 2 is the workspace of the arm. Workspace: Workspace is the space in which your robot can work i.e., all reachable points by the robot's endeffector constitutes to workspace.īelow is a example of two link planar arms. The last link can be gripper tool to do pick and place actions or a welding gun or simply a magnet. Try to identify the joints yourself (Hint: Shoulder alone has 3 DOF).Įnd-Effector: End-effector is the last link of the robot arm or manipulator that interacts with the environment. If you take a human arm from shoulder to palm (fingers not included), arm has 7 DOF. Human body is a group of kinematic chains connected in series.ĭegree of Freedom (DOF): Degree of freedom in robotic is simply the total number of independent joints which can change the pose of the robot. Human arm is an example of a kinematic chain. Kinematic chains: Kinematic chain is the assembly of links connected by joints to produce a desired motion. Joints cause relative motion between adjacent links. Joints: Joints are the movable parts(actuators) of the robots that connects the links of the robot. Links: Links are rigid bodies that gives structure to the robot. ![]()
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