1. Disadvantages of Spherical/Polar

2. Revolute Coordinate System

3. Revolute (Joined-Arm) Coordinate System

4. Revolute (Joined-Arm) Coordinate System
alpha - Axis

5. Revolute (Joined-Arm) Coordinate System
 - Axis

6. Revolute (Joined-Arm) Coordinate System
gamma - Axis

7. Revolute (Joined-Arm) Coordinate System

8. Jointed Arm

9. Advantages of Articulate/Jointed Arm/Revolute

10. Disadvantages of Articulate/Jointed Arm/Revolute

11. SCARA
A combination of the articulated arm and the cylindrical robot

12. Illustration of DOF of Revolute Coordinate System

13. Degrees of Freedom VS

14. Degrees of Freedom
Rotating the base.

15. Degrees of Freedom
Pivot the base of the arm.

16. Degrees of Freedom
Bending the elbow.

17. Degrees of Freedom
Wrist up and down.

18. Degrees of Freedom
Wrist left and right.

19. Degrees of Freedom
Rotating the wrist.

20. Classification Based on Number of joints or degrees of freedom

21. Industrial Robot Designs
Principal Elements of industrial robots

22. Working Area of Industrial Robots
Mechanics/Kinematics
Kinematics concepts of a 3-axis industrial robot and the resulting work area.

23. Classification of Industrial Robots

24. Grippers and Controls of Industrial Robots

25. Drives, Feedback and Sensors of Industrial Robots

26. Basic Robot Motions and DOF of industrial robots

27. Arm and Body Motions Vertical Traverse:
up-and-down motions of the arm,
caused by pivoting the entire arm about a horizontal axis or moving the arm along a vertical slide
Radial Traverse:
extension and retraction of the arm (in-and-out movement)
Rotational Traverse:
rotation about the vertical axis (right or left swivel of the robot arm)

28. Wrist Motions

29. Basic Motions Rotational traverse vertical traverse Wrist yaw
Wrist bend
radial traverse
Wrist Swivel
Wrist yaw

30. Robot Motion Characteristics

31. Robot Motion Characteristics

32. Additional Technical Features

33. Questions and Problems
Compare advantages and disadvantages of the Revolute Coordinate System with the previously discussed Cartesian, Cylindrical and Spherical Robot Arms
Compare this robot arm with the previous ones from the point of view of building such a robot arm in our lab using inexpensive components.
Invent an arm that is different from all four above. The same number of degree of freedom but other arrangement and other motion types in each DOF.
Discuss the envelope (work volume) of Revolute Coordinate robot arm from the point of view of using it in robot theatre.
Assuming that you remember about basic high school mechanics like lever, gears and pulleys, perform power/torque/linkage calculations for the Revolute Coordinate robot arm. If you forgot, read the material from the forthcoming lectures.