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Abstract
If we think about robots, we have not
to think about an artificial man.
The aim of the robot is to substitute
the man at the work.
Consequently the similitude
concerned overall the arm.
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Parts of robot
Despite the similitude with human arm or
mechanical equipment, the strictly definition of
the parts of robots refers to the followings
criteria:
The parts of the robots are named links and the
connections between two links are named
joints.
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Similitude between man and robot
The parts of the robot are the
frame, the 1st
link (upper arm),
the 2nd
link (forearm). The last
link is named end effector
(hand, sometime with fingers).
The 1st
joint is named shoulder,
the 2nd
joint is named elbow, the
join, which connects the last link
and the end effector (hand) is
usually named wrist.
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degree of freedom
The degree of freedom
is the most interesting
characteristic of the
robot.
More links (and more
joints) allow increase
the possibility of
movement and the
jobs, which the robot
can do.
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The movements of the links
The type of joint define the
movement of the links,
which are connected. There
are two possibility of
movement: translation or
rotation.
There is the arm sweep,
the shoulder swivel and the
wrist can have three
movements: pitch, yaw and
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the end effector
The end effector defines
the type of the work itself.
In fact, the robots can be
very similar, but the end
effector can be very
different, due to the use.
In fact the end effector
can be a gripper, a paint
sprayer, a spot welding
gun, a suction cup or other
tools.
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the change of the end effector
Usually the same robot
can change the end
effector, in order to the
work.
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Answer the following questions
1) What are the differences between joints
and links?
2) What are the parts of a robot that make
it similar to a human arm?
3) What are the robots mainly used for?
4) What is the part of the robot, which
defines the job of the robot itself?
10. 31/08/15 9
Answer the following questions
1) What are the differences between joints
and links?
2) What are the parts of a robot that make
it similar to a human arm?
3) What are the robots mainly used for?
4) What is the part of the robot, which
defines the job of the robot itself?
