Upcoming SlideShare
×

# Workspace design

434
-1

Published on

detailed description about formation of robot workspace

Published in: Technology
0 Likes
Statistics
Notes
• Full Name
Comment goes here.

Are you sure you want to Yes No
Your message goes here
• Be the first to comment

• Be the first to like this

Views
Total Views
434
On Slideshare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
3
0
Likes
0
Embeds 0
No embeds

No notes for slide

### Workspace design

1. 1. Workspace design of robots<br /> -Nishant Iyer<br />
2. 2. What is a robot?<br />A robot is a mechanical intelligent agent which can perform tasks on its own, or with guidance.<br />It is usually an electro-mechanical machine which is guided by computer and electronic programming.<br />
3. 3. Some examples to understand them more<br />
4. 4. What is degree of freedom?<br />It is the total number of independent motions that can be performed by a rigid body.<br />Lets understand this in a little more detail.<br />
5. 5. Lets understand DOF<br />Any free body in 3D space can perform translation and rotation along x , y and z axes.<br />Just imagine a brick floating without gravity.<br />This accounts to a total of 6 DOF.<br />
6. 6. What does DOF depend on?<br />A maximum of 6 DOF is possible for any rigid body.<br />Now the degree of freedom depends on the kind of joint and constraints on a robot.<br />Different joints give different DOFs.<br />Lets see some examples.<br />
7. 7. Types of joints and their DOFs<br />A pin joint gives a single degree of freedom as it permits rotation only along the pin axis.<br />A ball and socket joint gives 3 DOFs as it allows rotational motion along the three axes. Translation motion is restricted in this.<br />
8. 8. Understanding workspace<br />To understand workspace , lets consider a cylindrical configuration robot.<br />This has the capability to perform linear motion along z and y axes.<br />It also rotates along the z-axis.<br />This its DOF will be 3.<br />
9. 9. Understanding workspace<br />This is how its workspace/work volume be like.<br />Lets work out step by step how this came about. <br /> Workspace of acylindrical configuration robot<br />
10. 10. Step by step formation of a workspace/work volume<br />Keeping y co-ordinate at its maximum value, and tracing the path of a point on end effector by rotating only along z-axis, we get the shown curve.<br />
11. 11. Similarly keeping the y co-ordinate minimum, we trace the smaller inner curve.<br />This is the workspace of the robot along just 2 DOF. i.e. rotation along z-axis and translation along y-axis.<br />
12. 12. Finally the workspace is obtained<br />Now this robot can perform translation motion along z-axis.<br />Hence we extrude the one dimensional figure along the z-axis till the maximum value is reached.<br />This gives us the three dimensional workspace of the robot. <br />
13. 13. Why is knowledge about work volume important?<br />The work volume defines the total volume swept by the end effector of a robot.<br />In industrial assembly lines there will be many robots and components nearby to each other.<br />Its upto us to programme the motions of the links of the robot such that there are no collisions.<br />
14. 14. How can it be controlled or designed?<br />The work volume can be designed as per requirements.<br />This is possible by controlling the movements of links by setting maximum values to the actuators at the joints.<br />The maximum values have to be set according to the obstructions around the robot.<br />
1. #### A particular slide catching your eye?

Clipping is a handy way to collect important slides you want to go back to later.