The document discusses a robotic arm with 2 links connected by 1 joint. It has revolute coordinates and 2 degrees of freedom (DOF), allowing it to move within a 2D workspace. The robotic arm is most suitable for applications requiring simple pick and place movements within a 2D plane due to its geometry and limited DOF.

1. (a) How many links and joints does it have? Explain.
(b) Which coordinate type does it have? Explain.
(c) What is it DOF? Explain.
(d) Name and draw its workspace. Explain.
(e) Which application this robot is most suitable for? Explain why.
Solution
Link : A link is defined as a member of mechanism, connecting other member and having
motion relative to them.
Types of Links
1) Binary link *..........*
2) Ternary link *<*>*
3) Quarterly link */*/*/*
Types of Joints
1) Binary joint (B) - If two links are joined at the same connection.
2) Ternary joint (T) - If three links are joined at a connection . It is consider equivalent to two
binary joint.
3) Quaternary joint (Q) - If four links are joined at a connection , It is quaterny joint.
In the above figure given Number links are two and one joint.
DOF ( Degree Of Freedom ) : It is the number of independent coordinates required to describe
the position of the body in space.
DOF = 6- Number of restraints
DOF = 3(L-1) - 2P1-P2 for 2D mechanism
L= Number of links in a mechanism
P1= Number of pairs having one DOF
P2= Number of pairs having two DOF
DOF = 6(L-1) - 5P1-4P2-3P3-2P4-P5 for space mechanism (3-D)
L= Total number of links in mechanism
P1= Number of pairs having one DOF
P2= Number of pairs having two DOF
P3= Number of pairs having three DOF
P4= Number of pairs having four DOF
P5= Number of pairs having five DOF