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

2. 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

3. 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

4. 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

5. 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.

6. SPECIFICATIONS
An example of standard specifications

7. 5-AXIS ROBOTS

8. 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.

9. QUESTIONS AND COMMENTS??