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Robot and Robot Classification

Robot and Robot Classification

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Robot and Robot Classification

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  1. Robot and Robot Classification Logics of presentation: Robot definition Robot classification Handout 2: ME460

  2. Robot Definition Functional viewpoint: - automatically controlled, - reprogrammable multipurpose - reprogrammable axes Structural viewpoint: (see Fig. 2-1) - mechanical arm (see Fig. 2-2) - controller Handout 2: ME460

  3. Fig. 2-1 Handout 2: ME460

  4. Structural view (continued) - teach station - work cell interface - program storage device - power system (electrical, hydraulic, etc.) - end-effector or tooling or gripper Handout 2: ME460

  5. Fig. 2-2 Mechanical arm 1. Body motion 2. wrist motion Handout 2: ME460

  6. Robot Classification The classification is based on the body motion but not the wrist motion Handout 2: ME460

  7. Cartesian geometry: (a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4) • Spherical geometry (Fig. 2-5) • Cylindrical coordinate (Fig. 2-6) • Articulated geometry (a) vertical (Fig. 2-7) (b) horizontal (Fig. 2-8) Handout 2: ME460

  8. Fig. 2-3 Cartesian geometry: Gantry - type Handout 2: ME460

  9. Fig. 2-4 Cartesian geometry: Cartesian Handout 2: ME460

  10. Fig. 2-5 Spherical geometry Handout 2: ME460

  11. Cylindrical coordinate Fig. 2-6 Handout 2: ME460

  12. Fig. 2-7 Articulated geometry: vertical Handout 2: ME460

  13. Fig.2-8 Articulated geometry: horizontal Handout 2: ME460

  14. Work space Handout 2: ME460

  15. Fig. 2-9 Robot Controller Handout 2: ME460

  16. Fig. 2-10 Gripper Handout 2: ME460

  17. Summary • Robot definition from two perspectives: functional and structural. • Robot classification is based on body motion but not wrist motion. Handout 2: ME460