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A. Vania
Politecnico di Milano, Dept. of Mechanical Engineering, Milan, Italy
JOINTS 2
prismatic joint
spherical 3D
helical joint
spherical 2D
plane on plane
translations
degree of
freedom
rotations
free
free
name
sphere between
parallel planes
sphere in a
cylinder
cylinder between
parallel planes
sphere in a
cylinder with
groove
planar
spherical with
groove
toric
cylindrical
cylindrical with
groove
rotoidal
prismatic
s l
driver
driver
s
driver
driver
s
(full rotation of
s the coupler link
is possible)
s+l < p+q s+l < p+q
(c) Rocker - crank (d) Grashof Rocker-rocker
s+l = p+q
N = 3 ( m − 1 ) − 2 C1 − C2
Front loader
shovel
end effector
end effector
(tongs)
(e.g. screwdriver)
N = 6 ( m − 1 ) − 5 C1 − 4 C2 − 3 C3 − 2 C4 − C5
SCARA robots
APPLIED MECHANICS – Prof. Andrea VANIA
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