Manipulator: -
Manipulator is
built as series chains or parallel chains or occasionally a combination of
both. Links and joints (revolute and prismatic) are mostly used in
manipulators. In spatial manipulators (open chains) adjacent axes are parallel
or perpendicular to each other.
Wrists: - Wrists roll, yaw
and pitch. There are three motions and three actuators are required for motion.
End
effectors: -
Continuous path motion – painting application is an example when the end effectors
have to move over a desired curve in space. The robot end effectors are
required to reach the centre of circle the target point. The circle on extreme
left shows the situation when the robot has poor accuracy and poor
repeatability. The circle in the middle shows the EE had been repeatedly
reaching positions which are closely together through way from the target
point
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