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【正文】 assembly ? Often called an anthropomorphic arm because it resembles a human arm Anthropomorphic Configuration ? Anthropomorphic association extends to names of the links joints Joint 1 “Waist” Joint 2 “Shoulder” Joint 3 “Elbow” ? Anthropomorphic association extends to names of the links joints Link 1 “Trunk” Link 2 “Upper Arm” Link 3 “Forearm” Anthropomorphic Configuration ? Very hard to pute and visualize Anthropomorphic Configuration Characteristics of Anthropomorphic Robots ? Advantages: ? excellent reach for size ? can reach above or below obstacles characteristics similar to human arm ? large workspace for size ? Disadvantages: ? plicated kinematics ? difficult to program offline ? workspace difficult to visualize pute ? small errors in first few joints are amplified at endeffector Kuka KR6/2 ? Payload: 13 lb (6 kg) ? Max Reach: 62 in (1570 mm) ? Repeatability: 177。 in (177。 mm) ? Weight: 450 lb (205 kg) SCARA Configuration ? First two links are revolute, last link is prismatic (RRP) ? SCARA stands for Selective Compliance Assembly Robot Arm SCARA Configuration ? Rigid in the vertical direction ? Compliant in the horizontal direction ? Used for assembly in a vertical direction ? circuit board ponent insertion SCARA Workspace ? Workspace shaped somewhat like a donut ? maximum outer radius ? minimum inner radius ? uniform height Nimbl Junior 500 ? Payload: 11 lb (5 kg) ? Max Reach: 20 in (500 mm) ? Repeatability: 177。 in (177。 mm) ? Weight: ??? lb (?? kg) Characteristics of SCARA Robots ? Advantages: ? fast cycle times ? excellent repeatability good payload capacity ? large workspace ? height axis is rigid ? Disadvantages: ? hard to program offline ? often limited to planar surfaces ? typically small with relatively low load capacity ? two ways to reach same point Robot Arms Wrists ? Most robot arms have 3 “degrees of freedom” ? can position the end of the arm at “any” point in 3D space ? Robot “wrists” also have 3 “degrees of freedom” ? usually all revolute / rotational joints ? used to provide the final orientation to the “gripper” or “endeffector” Roll Pitch Roll Wrist Can have problems when the first “roll” axis aligns with the last “roll” axis Three main degrees of freedom Wrist Yaw Pitch Roll Wrist Modeling and Control of Manipulators ? Modeling ? Kinematics（運(yùn)動(dòng)學(xué)） ? Differential kinematics（微分運(yùn)動(dòng)學(xué)） ? Dynamics （動(dòng)力學(xué)） Modeling and Control of Manipulators ? Control ? Trajectory planning （軌跡規(guī)劃） ? Motion control（運(yùn)動(dòng)控制） ? Hardware/software architecture MATLAB Robot Toolbox ?Use the web to research the different manufacturers and types of industrial robots available. ?Download the robot toolbox for MATLAB ?Review linear algebra and mechanics Assignment 演講完畢，謝謝觀看！
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