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Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright...

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Page 1: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy
Page 2: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Robot Mechanisms

Photos of various robots removed for copyright reasons.Sony Aibo™, Honda ASIMO, robotic hands, industrial manipulator arm.

Courtesy of JPL.

Page 3: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Sample Return Rovers with articulated suspension mechanisms

Images courtesy of JPL.

Page 4: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

3/16 Axle Shaft

3/16 Axle Shaft

5/32 Axle Shaft

5/32 Axle Shaft

5/32 EZ Adjustabl

eAxle

Page 5: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy
Page 6: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Open-Loop Kinematic Chains

Serial Linkage

Photos of various robots removed for copyright reasons.Sony Aibo™, Honda ASIMO, robotic hands, industrial manipulator arm.

Page 7: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Two-Branches of Open-Kinematic Chains

Photo removed for copyright reasons: ASIMO robot descending stairs.

See http://world.honda.com/ASIMO/.

Figure by MIT OCW.

Page 8: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

(a) Prismatic joint (b) Revolute joint

Primitives of Robot MechanismsTwo Types of Single-Axis Joints

Page 9: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Three Prismatic Joints

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

y

x

z2

z1

z0

z

3

21

ι

Figures by MIT OCW.

Page 10: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Photo removed for copyright reasons.GMF Robotics M-100 arm.

Figures by MIT OCW.

Page 11: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Photo removed for copyright reasons.

Figures by MIT OCW.

Page 12: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Photo removed for copyright reasons.

z0z1

d3

z2

1

2

1

12

3

0

12

3

0

12

3

0

12

3

0

θ

Figure by MIT OCW.

Page 13: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Photo removed for copyright reasons.

Figure by MIT OCW.

Page 14: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Pros and Cons of Open-Loop Kinematic Chains

Serial Linkage

Pros• Large work space• Dexterity• (Lower inertia)• (Lower cost)

Cons• Low stiffness• Low accuracy• Rapid increase of inertial

load along the linkage• Small load bearing capacity

Page 15: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

End Effecter

Joint 1

Link 4

Passive joints

Link 3

Point AJoint 5

Link 2

Joint 4Link 1

Joint 3 Link 0

Joint 2

Closed Loop

Active Joints

Schematic removed for copyright reasons.

Page 16: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Parallel LinkagePosition and Orientation

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Figure by MIT OCW.

Passive

Active

Page 17: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

P

S

S

S

S

SS

S

S

P

S

S

S(Spherical Joint)

(Spherical Joint)

S

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Moving Platform

Fixed Base

(Prismatic Joint)

Figure by MIT OCW.

Page 18: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Photo removed for copyright reasons.

Page 19: Robot Mechanisms - DSpace@MIT HomeRobot Mechanisms Photos of various robots removed for copyright reasons. Sony Aibo , Honda ASIMO, robotic hands, industrial manipulator arm. Courtesy

Open-LoopClosed-Loop

Figure by MIT OCW.


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