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Concept
Articulated robot
Summary
An articulated robot is a robot with rotary joints (e.g. a legged robot or an industrial robot). Articulated robots can range from simple two-jointed structures to systems with 10 or more interacting joints and materials.
They are powered by a variety of means, including electric motors.
Some types of robots, such as robotic arms, can be articulated or non-articulated.
Image:Factory Automation Robotics Palettizing Bread.jpg|Robots palletizing food (Bakery)
Image: Robotics Cutting Bridge Building Parts.jpg|Manufacturing of steel bridges, cutting steel
Image:KUKA robot for flat glas handling.jpg|Flat-glass handling, heavy duty robot with 500 kg payload
Image:Automation of foundry with robot.jpg|Automation in foundry industry, heat resistant robot
Image:Robotworx-spot-welding-robot.jpg|Spot Welding Robot
Articulated Robot:
See Figure. An articulated robot uses all the three revolute joints to access its work space.
Usually the joints are arranged in a “chain”, so that one joint supports another further in the chain.
Continuous Path:
A control scheme whereby the inputs or commands specify every point along a desired path of motion. The path is controlled by the coordinated motion of the manipulator joints.
Degrees Of Freedom (DOF):
The number of independent motions in which the end effector can move, defined by the number of axes of motion of the manipulator.
Gripper:
A device for grasping or holding, attached to the free end of the last manipulator link; also called the robot’s hand or end-effector.
Payload:
The maximum payload is the amount of weight carried by the robot manipulator at reduced speed while maintaining rated precision. Nominal payload is measured at maximum speed while maintaining rated precision. These ratings are highly dependent on the size and shape of the payload.
Pick And Place Cycle:
See Figure. Pick and place Cycle is the time, in seconds, to execute the following motion sequence: Move down one inch, grasp a rated payload; move up one inch; move across twelve inches; move down one inch; ungrasp; move up one inch; and return to start location.
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Related publications (36)
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Related concepts (1)
Robotic arm
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.
Related courses (1)
MICRO-462: Learning and adaptive control for robots
To cope with constant and unexpected changes in their environment, robots need to adapt their paths rapidly and appropriately without endangering humans. this course presents method to react within mi