CHAP 5 Flashcards
which type of joint imposes four constraints and allows one translation and one rotation along the same axis?
cylindrical joint (c)
in the context of robot manipulators, how many degrees of freedom does a spherical joint have?
3
which joint permits three degrees of freedom, specifically allowing two translations and one rotation in one plane?
planar joint (l)
what is the primary diffrence between a lower pair joint and a higher pair joint?
lower pairs have surface contact, while higher pairs have line or point contact
if a kinematic chain has exactly two links each connected to only one other link, it is classified as:
open chain
in robot manipulator, how many degrees of freedom does a link in a three-dimensional cartesian space possess?
3
which type of joint is characterized by the combination of two intersecting revolute joints and possesses two degrees of freedom?
universal joint (u)
in the context of kinematic chain, what defines a closed chain mechanism?
every link is connected to exactly two other links
which type of joint allows rotation about and translation along the axis of the joint, but the translation is not independent and is related to the rotation by the pitch of the screw?
helical joint (h)
for a robot link considered as a rigid body, which statement is true about its degrees of freedom?
it has three dimensional and three rotational degrees of freedom
which joint allows paired links to rotate about a single axis with one degree of freedom and is also known as a turning pair or pin joint?
revolute joint (r)
how many constraints are imposed by a prismatic joint on the paired links?
5
in the context of robot kinematics, what does a “kinenematic chain” specifically refer to?
a series of links connected by joints
what kind of motion does a revolute joint constrain between two links?
it allows rotation about one axis only
a robot manipulator is primarily used in which sector?
industrial manufacturing
how is an assembly of two gears connected by a common shaft treated in kinematics?
as a single rigid link
what type of joint allows rotation in all possible orientations but no relative translation?
spherical joint (s)
which statement best describes the degree of freedom in the context of a robot’s joint?
it is the number of independent movements allowed by the joint
which type of kinematic chain involves multiple open or closed chains connected to a common link?
parallel chain
if a robot manipulator’s end-effector requires precision in positioning and orientation, which aspect of kinematics becomes crucial?
the transformations between the coordinate frames of different links
what is the degree of freedom (DOF) of a rigid body in three-dimensional space?
6
how many degrees of freedom does a prismatic joint add to a robot’s kinematic chain?
1
in an open kinematic chain, how is the total degree of freedom calculated?
by summing the degrees of freedom of all joints and subtracting contraints
a stewart platform typically has how many degrees of freedom?
6
which robot type described can move in x, y, and z axes but has no rotational degrees of freedom?
rectangular coordinate robot (cartesian)
how many prismatic actuators are typically used in a stewart platform to achieve its six degrees of freedom?
6
what is the typical degree of freedom for a spherical joint?
3
in a cylindrical coordinate robot, how many degrees of freedom are typically associated with the rotary joint at the base?
1
what defines the workspace of a robot?
the configurations that the end-effector can reach
which robot type is known for having three arms connected to a single base and moves in a dome-shape workspace?
delta robot
how does a revolute joint constrain the movement of connected links?
allows rotation about one axis
in a stewart platform, which types of joints are typically used for connections?
universal and spherical joints
for a robot with an articulated arm, how does adding more rotary joints affect its degrees of freedom?
it increases the degrees of freedom
what is the main difference between task space and workspace?
task space is task-dependent; workspace is robot-dependent
how many degrees of freedom does a universal joint typically provide?
2
in a closed kinematic chain, how is the degree of freedom typically calculated?
using gruebler’s equation considering the number of links and joints
which robot type can directly and safely interact with humans in a shared workspace?
collaborative robot (cobot)
what type of motion does a cylindrical coordinate
robot typically have?
both linear and rotary motion
how many degrees of freedom does a planar robot with two revolute joints typically have?
2
in the context of robot manipulators, what does the term “dexterous workspace” refer to?
the set of positions that can be reached with all possible orientations
