3rd session robista fv
TRANSCRIPT
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Third Session
Make a move to make it move
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Kareem In Manila
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Robot & Structure
Robot
Motion Control System
Actuator Power Source Load Power
transmission
Mechanical equations
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Types of motion
• Pure Rotational.
• Pure Translational.
• Complex motion
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Control system
Fluid power control
Hydraulic system
Pneumatic system
Electrical power control
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Power transmission Elements
Gears. Belts.Chains.
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Terminologies
• Link.• Chain.• Mechanism.• Machine.• Robot.
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Joints
Revolute Joint (R-Joint) Prismatic Joint (P-Joint)
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Robotics Manipulator
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Forward and Reverse Kinematics
(R-Joint Manipulator)Single link Manipulator
XQ=a cosθ
YQ=a sinθ
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2-Links Manipulators
RR manipulator RP manipulator
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2-Links Manipulator
PP manipulator
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Reverse Analysis:
Given: XQ and YQ.
Required: θ1 and θ2.
1. Square XQ & YQ.
2. Add Both Equations.
RR manipulator
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RR manipulator
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RR manipulator
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RR manipulator
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RR manipulator
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RR manipulator
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RR manipulator
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RP Manipulator
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RP Manipulator
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RP Manipulator
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RP Manipulator
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Answer ????
RP Manipulator
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PP Manipulator
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PP Manipulator
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Video “ ..... صغيرين كنا لما زمان ”فاكر
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3-link Manipulator
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RRR Manipulator
Manipulator Variables:θ1,θ2, θ3
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Forward analysis
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RRR Manipulator
Links Orientation:
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RRR Manipulator
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RRR Manipulator
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Required:β,γ,θ2, and θ3
Given:XQ,YQ, and θ1
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Leadership Skills
Team Work
Vision
Decisions.
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Video “ اليابانية المحركات ”موسيقى
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Positions of the links
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Velocity and acceleration analysis
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Task
RRP Manipulator PRP Manipulator