Robot Anatomy Flashcards
What is a joint?
This is the part of a robot that enables linear or rotational motion of adjoining members
What are the 3 types of joint movement and what do they each do?
> Rotation movement: Rotation in the horizontal plane
Radial movement: Increases the distance of the end effector from the robot. Generally called radial transverse.
Vertical movement: This enables the robot to change the height of the end effector
What is an L-Joint?
> Sliding joint
> Is like a piston and changes the length of the link
What is an O-Joint?
This is a joint where a link runs along a rail and produces extension
What is an R-joint?
Normal rotation joint about an axis
What is a T-Joint?
This is a twisting joint
What is a V-Joint?
This is a revolving twisting joint where the output link is perpendicular to the rotational axis
What is a U-Joint?
> Universal joint and is more complex.
Transmits rotational movement in a different direction.
Like lego U-Joint
What is an S-Joint?
A spherical, ball and socket joint
What is a link?
This is the ridged member between joints
What is serial linkage?
> This is like a conventional robot with an alternating link-joint-link-joint configuration.
Easy to control
What is parallel linkage?
> Joints are arranged in parallel with some active and some passive joints
Harder to control
What is an active and a passive joint?
> An active joint is powered and controlled.
> A passive joint is free moving.
What is the benefit of more passive joints?
> A greater load can be carried
> More stable
What is the disadvantage of a parallel robot?
> Reduced degree of freedom
> Harder to control
