2. Third Session
Make a move to make it move

3. Kareem In Manila

4. Robot & Structure
Robot
Motion
Actuator
Control System
Power
Source
Load
Mechanical
equations
Power
transmission

5. Types of motion
• Pure Rotational.
• Pure Translational.
• Complex motion

6. Control system
Fluid power
control
Hydraulic
system
Electrical
power control
Pneumatic
system

7. Power transmission Elements
Gears.
Chains.
Belts.

8. Terminologies
•
•
•
•
•
Link.
Chain.
Mechanism.
Machine.
Robot.

9. Joints
Revolute Joint (R-Joint)
Prismatic Joint (P-Joint)

10. Robotics Manipulator

11. Forward and Reverse Kinematics
 XQ=a cosθ
 YQ=a sinθ
(R-Joint Manipulator)
Single link Manipulator

12. 2-Links Manipulators
 RR manipulator
 RP manipulator

13. 2-Links Manipulator
 PP manipulator

14. RR manipulator
Reverse Analysis:
Given: XQ and YQ.
Required: θ1 and θ2.
1. Square XQ & YQ.
2. Add Both Equations.

15. RR manipulator

16. RR manipulator

17. RR manipulator

18. RR manipulator

19. RR manipulator

21. RR manipulator

22.  RP Manipulator

23.  RP Manipulator

24.  RP Manipulator

25.  RP Manipulator

26.  RP Manipulator
Answer ????

27.  PP Manipulator

28.  PP Manipulator

29. Video
“
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30. 3-link Manipulator

31. RRR Manipulator
Manipulator Variables:
θ1,θ2, θ3

32. Forward analysis

33. RRR Manipulator
Links Orientation:

34. RRR Manipulator

35. RRR Manipulator

36. Required:
β,γ,θ2, and θ3
Given:
XQ,YQ, and θ1

55. Leadership Skills
Vision
Team Work
Decisions.

57. Video
“
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58. Positions of the links

59. Velocity and acceleration analysis

60. Task 
RRP Manipulator
PRP Manipulator