ROBOT ANATOMY Lesson 3

WORK CELL ORGANIZZATION The robotic arm works if it is connected to a numerical control machine

WORK CELL ORGANIZZATION The cells are organized in: cells with central robot processing lines cells with mobile robot

ROBOTIC ARM Depending on the type of processing, there are different types of robotic arms. But all have a similar basic configuration. So we have: supporting structure arm mechanical joints wrist effector terminal

ROBOTIC ARM Supporting structure In anatomy the supporting structure is represented by the foot. In the Robots we can have two supporting structures: fixed base structure mobile structure

ROBOTIC ARM The arm consists of a set of rigid segments that can move with respect to one another, by means of mechanical joints that are called: Shoulder Elbow wrist

ROBOTIC ARM You can have different robotic arm structure Cartesian

ROBOTIC ARM You can have different robotic arm structure Cylindric

ROBOTIC ARM You can have different robotic arm structure Spherical

ROBOTIC ARM You can have different robotic arm structure Anthropomorphous

ROBOTIC ARM You can have different robotic arm structure SCARA = Selective Compliance Assembly Robot Arm

MECHANICAL JOINTS The arm consists of a set of rigid segments that can move with respect to one another, by means of mechanical joints that are called: Shoulder Elbow wrist

MECHANICAL JOINTS The joints that allow the movements are: Rotary (R) Prismatic (P) Helical (RRP) Cylindrical (RPP) Spherical (RRR)

MECHANICAL JOINTS An important element is the wrist It is used to connect the effector terminal element to the arm. It has the function of guiding and orienting the terminal element for processing.

MECHANICAL JOINTS The terminal element performer takes the form suitable for the processes to which it is used. It can be hand-shaped or take the form of a tool suitable for processing.

MECHANICAL JOINTS The terminal element performer takes the form suitable for the processes to which it is used. It can be hand-shaped or take the form of a tool suitable for processing.

ACTIVITY CROSSWORD SPEAKING IN PAIR