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Chapter 3 Robot Mechanisms - MIT OpenCourseWare

introduction to Robotics, H. Harry Asada 1. Chapter 3. Robot Mechanisms A Robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion, and any other tasks changing the state of the environment or the state of the Robot relative to the environment. A Robot has some form of Mechanisms for performing a class of tasks. A rich variety of Robot Mechanisms has been developed in the last few decades. In this Chapter , we will first overview various types of Mechanisms used for generating robotic motion, and introduce some taxonomy of mechanical structures before going into a more detailed analysis in the subsequent chapters. Joint Primitives and Serial Linkages A Robot mechanism is a multi-body system with the multiple bodies connected together. We begin by treating each body as rigid, ignoring elasticity and any deformations caused by large load conditions.

Introduction to Robotics, H. Harry Asada 3 Photo removed for copyright reasons. Figure 3.1.4 Spherical coordinate robot. Figure by MIT OCW. There are many other ways of locating an end-effecter in three-dimensional space. Figure 3.1.5 ~ 7 show three other kinematic structures that allow the robot to locate its end-effecter in three-dimensional ...

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