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Lecture four-roboticsJoint-DrWassan.pptx
- 1. 1 Erbil International University Computer Science Department 2nd Term -4th Grade Dr. Wasan Adnan Hashim
- 2. 2 LECTURE FOUR: Robot Joints Dr. Wasan Adnan Hashim
- 3. Dr. Wasan Adnan Hashim
- 5. Robotic Components, Movements and Articulation Humans have many more and some robots have 8, 12, or even 20 degrees of freedom, but these 6 are enough for most basic tasks. As a result, most jointed-arm robots in use today have 6 degrees of freedom
- 10. Common end effectors 1. Tools Spot welding Arc welding Drilling, grinding, de-burring, etc. Cutting device (laser, water jet, torch, etc.) Spray painting 2. Grippers Mechanical Vacuum Magnetized Adhesive Simple (hooks, scoops)
- 12. 12 Grippers • Grippers are devices which can be used for holding or gripping an object. • They include what you might call mechanical hands and also anything like hooks, magnets and suction devices which can be used for holding or gripping. • Grippers take advantage of point-to-point control (exact path that the robot takes between what it is picking up and where it is placing it. • Grippers should be designed so that it requires the minimum amount of manoeuvring in order to grip the work piece
- 13. 13 Classification of Gripper • Single gripper • Double gripper • Multiple gripper
- 14. Single gripper • Only one grasping device • Machine loading • Machine unloading Double gripper • Two gripping devices • Actuate independently • Simultaneous Loading / Unloading
- 15. Multiple gripper • Two or More grasping devices. • May/ May not actuate independently. • Holding large-flat objects like Glass. Internal gripper • Grasp the object on its internal surface
- 16. External Gripper • Grasp the object on its exterior surface Mechanical gripper • Mechanical fingers actuated by a mechanism . • Fingers also called ‘Jaws’. • Attached or Integrated part of the mechanism.
- 17. 17