Gateway Coalition - WSU Rahul K. Shah

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Presentation transcript:

Gateway Coalition - WSU Rahul K. Shah ROBOTIC ARMS Gateway Coalition - WSU Rahul K. Shah

FUNDAMENTALS MECHANICAL MANIPULATOR CONSTRUCTION & PARTS Can perform a variety of tasks also called an industrial robot CONSTRUCTION & PARTS Non-moving Base/Frame Links position and orientation depends on the co-ordinate system Joints allow motion of neighboring links can be rotary, sliding or prismatic

FUNDAMENTALS CONSTRUCTION & PARTS (contd.) TERMINOLOGY End-Effector in our case it will be the Gripper TERMINOLOGY Workspace area within the reach of a manipulator Tool Frame gives the position of the manipulator w.r.t the Base Frame

FUNDAMENTALS TERMINOLOGY (contd.) Jacobian Joint Torques matrix quantity which helps with velocity analysis using Mapping Joint Torques These are to be calculated whenever there is a contact with another object or the need of applying a static force arises

FUNDAMENTALS TYPES OF CONTROLS Linear position control Nonlinear position Control Force Control All of the above need to be programmed via a robot programming language.

SPECIFICATIONS An example of standard specifications

5-AXIS ROBOTS

CONCERNS Typical Weight to Payload ratio :- 12-26 An arm this heavy is going to affect the performance of the wheelchair. Size of links due to the size of motors. Typically around 4 to 5 in.

QUESTIONS AND COMMENTS??