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Capítulo 2Grados de libertad

Articulacion lineal o prismática

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Articulación de giro

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Articulación planar: 2 lineales

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Articulación cilindrica: 1 giro, 1 lineal

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Articulación esférica: 3 giros en planos perpendiculares

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Robot articulado: grados de libertad

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Ejes de coordenadas

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Robot cartesiano

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Robot cilindrico 1 rotación en la base 2 lineales

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Robot esferico 2 rotaciones y 1 lineal

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Robot articulado con 5 grados de libertad

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Robot SCARA 2 rotaciones paralelas 1 lineal

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Historia...

A modern reconstruction of the Chinese Wood Cow tha was designed and built

since Vth century B.C. (from Ancient Chinese Machines Foundation at National Cheng

Kung University in Tainan).

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Historia...

An Arabic design of an automaton by Al-Jazari in XIIth century

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Historia...

The writer automata by Jaquet-Droz in 1760:

a) the robot shape; b) the mechanisms

a) b)

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Historia...

The Japanese tea maidservant automaton whose design was developed in the

XVIIth century: a) a modern reconstruction; b) an original design scheme.

a) b)

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Historia...

El pato de Jacques de Vaucanson (1709-1782)

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Historia...

Walking robots: a) Honda robot built in 1993; b) Waseda robot version of 1997; c) EP-WAR built in 1996.

(Photos are taken from web pages