Robotica

1. Capítulo 2
Grados de libertad
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2.  Articulacion lineal o prismática
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3.  Articulación de giro
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4.  Articulación planar: 2 lineales
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5.  Articulación cilindrica: 1 giro, 1 lineal
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6.  Articulación esférica: 3 giros en planos
perpendiculares
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7.  Robot articulado: grados de libertad
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8.  Ejes de coordenadas
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9.  Robot cartesiano
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10.  Robot cilindrico


1 rotación en la base
2 lineales
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11.  Robot esferico

2 rotaciones y 1 lineal
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12.  Robot articulado con 5 grados de libertad
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13.  Robot SCARA


2 rotaciones paralelas
1 lineal
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14. 14

15. Historia...
A modern reconstruction of the Chinese Wood Cow tha was designed and built
since Vth century B.C. (from Ancient Chinese Machines Foundation at National Cheng
Kung University in Tainan).
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16. Historia...
An Arabic design of an automaton by Al-Jazari in XIIth century
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17. Historia...
a)
b)
The writer automata by Jaquet-Droz in 1760:
a) the robot shape; b) the mechanisms
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18. Historia...
a)
b)
The Japanese tea maidservant automaton whose design was developed in the
XVIIth century: a) a modern reconstruction; b) an original design scheme.
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19. Historia...
El pato de Jacques de Vaucanson (1709-1782)
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20. Historia...
Walking robots: a) Honda robot built in 1993; b) Waseda robot version
of 1997; c) EP-WAR built in 1996.
(Photos are taken from web pages
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