Thames & Kosmos Mechanical Engineering: Robotic Arms handleiding

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Handleiding

Together, links and joints form what is

called a kinematic chain. The word

“kinematic” refers to how objects

move. In a robotic arm, the links in the

kinematic chain are constrained by

their connection points to the other

links — like how your elbow is

constrained by the range of motion of

your shoulder. To understand how a

robotic arm can move as a whole, you

can look about how each element in

the kinematic chain can move.

Often the end of the robotic arm, called

the end eﬀector, is designed separately

from the rest of the arm. It is designed to interact

with objects in its environment, like a human

hand, but for specialized tasks such as welding,

gripping, spinning, applying materials, and so on.

LINKS AND JOINTS

In engineering, it is often necessary to create simpliﬁed

models of structures or systems in order to beer

understand their physical characteristics or behaviors.

When simplifying a robotic arm to beer understand it, the

mechanical parts can be thought of as either links or joints.

Links are the rigid structural elements of the robotic arm. In

this kit, this includes the frames and rods. The joints are the

pieces that allow for movement, such as the joint pins,

axles, gears, and pistons in this kit. Joints allow a link to

move by either rotation or translation (moving from one

point in space to another).

MOVEMENT THROUGH SPACE

Unlike a human arm, a robotic arm can have a lot

more freedom to move through space in diﬀerent

ways. The movement of a robotic arm can be

described by the term “degrees of freedom.” The

position and orientation of an object in space can

be given by three components of movement in the

x, y, and z directions, and three components of

rotation around those axes. For a single object in

space, there are at most six degrees of freedom.

Each joint in a robotic arm

has a certain number of

degrees of freedom, which

might be less than the

maximum number of six. For

example, not all of the

pivoting robotic arm’s joints

can rotate 360 degrees.

The area deﬁned by all of the positions in space that the

end of the robotic arm can reach is known as the

workspace. If the object that the robotic arm needs to

pick up is not in the workspace, the robot cannot pick it

up! The workspace depends on the degrees of freedom,

limitations of the joints, lengths of the linkages, and the

angles at which the object must be picked up.

CHECK IT OUT

Links and Joints

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