By Moshe Shoham (auth.)

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Extra info for A Textbook of Robotics 2: Structure, Control and Operation

Example text

Therefore, for a given moment supplied by the motor, angular acceleration will change in a manner inversely proportional to any change in moment of inertia. Examining the above two examples, differences exist in the moments given load at a given velocity, or angular acceleration with a given areas of the work envelope. we find that great required to move a to achieve a given load, in different Additional examples of calculations involving moments of inertia of robot arms and moments required of robot motors will be given in Chapter 3.

The axes of motion of horizontal articulated robots are shown in Figure 2-19. Figure 2-20 shows another horizontal articulated robot, manufactured by Seiko. 20: A horizontal articulated robot manufactured by Seiko 34 The mechanical arm By comparing Figure 2-20 with Figure 2-18, you will understand the difference between a horizontal articulated robot and a spherical robot. Vertical Articulated Robots A vertical articulated robot is one with three rotary degrees of freedom; its designation, therefore is RRR.

Generally speaking, the target point (the point to which the end effector is to be moved) is defined in Cartesian coordinates. 41 Structure, Control and Operation Therefore, in Cartesian robots, each of the linear axes is moved the required amount, to reach the respective Cartesian coordinate of the target point, with no need for a great number of computations. However, with nonCartesian robots - cylindrical robots, for example -, the amount of motion of each joint must be separately computed from the existing Cartesian coordinates, since the movement of the joints, in this case, does not move the end effector in purely Cartesian coordinates.

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