3rd session robista fv

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

RP Manipulator

Answer ????

RP Manipulator

PP Manipulator

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3-link Manipulator

RRR Manipulator

Manipulator Variables:θ1,θ2, θ3

Forward analysis

RRR Manipulator

Links Orientation:

RRR Manipulator

Required:β,γ,θ2, and θ3

Given:XQ,YQ, and θ1

Leadership Skills

Team Work

Vision

Decisions.

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Positions of the links

Velocity and acceleration analysis

Task

RRP Manipulator PRP Manipulator

Education