Third Session

Make a move to make it move

Kareem In Manila

Robot & Structure

Robot

Motion Control System

Actuator Power Source Load Power

transmission

Mechanical equations

Types of motion

• Pure Rotational.

• Pure Translational.

• Complex motion

Control system

Fluid power control

Hydraulic system

Pneumatic system

Electrical power control

Power transmission Elements

Gears. Belts.Chains.

Terminologies

• Link.• Chain.• Mechanism.• Machine.• Robot.

Joints

Revolute Joint (R-Joint) Prismatic Joint (P-Joint)

Robotics Manipulator

Forward and Reverse Kinematics

(R-Joint Manipulator)Single link Manipulator

XQ=a cosθ

YQ=a sinθ

2-Links Manipulators

RR manipulator RP manipulator

2-Links Manipulator

PP manipulator

Reverse Analysis:

Given: XQ and YQ.

Required: θ1 and θ2.

1. Square XQ & YQ.

2. Add Both Equations.

RR manipulator

RR manipulator

RR manipulator

RR manipulator

RR manipulator

RR manipulator

RR manipulator

RP Manipulator

RP Manipulator

RP Manipulator

RP Manipulator

Answer ????

RP Manipulator

PP Manipulator

PP Manipulator

Video “ ..... صغيرين كنا لما زمان ”فاكر

3-link Manipulator

RRR Manipulator

Manipulator Variables:θ1,θ2, θ3

Forward analysis

RRR Manipulator

Links Orientation:

RRR Manipulator

RRR Manipulator

Required:β,γ,θ2, and θ3

Given:XQ,YQ, and θ1

Leadership Skills

Team Work

Vision

Decisions.

Video “ اليابانية المحركات ”موسيقى

Positions of the links

Velocity and acceleration analysis

Task

RRP Manipulator PRP Manipulator