2. Robotics and Me!

3. Human Arm  Versatile  Flexible  7 degrees of freedom  End Effector.

4. Shoulder  Ball and socket  Arm muscles anchor  3 Degrees of freedom.

5. Shoulder - First Degree  Hold arm up, pointing straight out  Raise arm (shoulder) up and down  First degree -- pitch.

6. Shoulder - Second Degree  Hold arm out as before  Move arm from left to right  Second degree - yaw.

7. Shoulder - Third Degree  Hold arm out as before  Rotate arm -- how far can you rotate??  Third degree -- roll.

8. Elbow Joint  Hinge joint  Synovial cavity present  How many degrees of freedom??

9. Elbow - degree(s) of freedom  Hold arm straight out  Raise and lower hand  1st Degree of freedom -- elbow pitch.  Can you turn elbow in any other direction?

10. Wrist Joint  Condyloid joint  Attachment point for end effector - hand  Does your body have any other end - effectors? What is attachment point?  Three degrees of freedom.

11. Wrist - First Degree  Hold arm up, pointing straight out, hold arm with your other hand to isolate wrist action  Raise wrist up and down  First degree -- wrist pitch.

12. Wrist - Second Degree  Hold arm out as before, hold arm with your other hand to isolate wrist action  Move wrist from left to right; how far can you go  Second degree - wrist yaw.

13. Wrist - Third Degree  Hold arm out as before, hold arm with your other hand to isolate wrist action  Rotate wrist -- how far can you rotate??  Third degree -- wrist roll.

14. Shuttle Arm  Called Canadarm  Attached to shuttle payload bay  Has six degrees of freedom.

16. ISS Arm  Canadarm 2  A lot bigger - 14 inches wide, 56 ft. long  Has hands at both ends  Acts like an inchworm  Has 7 degrees of freedom.

17. Shuttle vs. Station Arm MissionReturns to Earth Permanent Range of Motion Reach limited by arm length Moves end of end with LEE’s, mobile Fixed JointFixed to shuttle on one end No fixed end

18. Shuttle vs. Station Arm Degrees of Freedom 67 Range of Motion Reach limited by arm length Moves end of end with LEE’s, mobile Joint RotationLimited by elbow rotation Full rotation, 7 joints rotate 540 degrees

19. Shuttle vs. Station Arm SensesNo senseTouch, automatic vision, collision Mass Handling2900 kg, upgraded to 266,000 116,000 kg RepairsEarthIn Space, redundant

20. Robonaut  Humanoid  For EVA’s  Chordate Approach  Fits tools.

21. Robonaut Arm  Human scale  Match 8 hour EVA  Human reach and fine motion  Has to function in space environment.