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To learn more about . . . Selecting a motor for driving a robot Using DC motors for robot locomotion Building Walkerbot, a six-legged mobile walking robot Read 19, Choosing the Right Motor 20, Working with DC Motors 24, Build a Heavy-Duty Six-Legged Walking Robot
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CHAPTER
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REACHING OUT WITH ROBOT ARMS
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obots without arms are limited to rolling or walking about, perhaps noting things that occur around them, but little else. The robot can t, as the slogan goes, reach out and touch someone, and it certainly can t manipulate its world. The more sophisticated robots in science, industry, and research and development have at least one arm to grasp, reorient, or move objects. Arms extend the reach of robots and make them more like humans. For all the extra capabilities arms provide a robot, it s interesting that they aren t at all difficult to build. Your arm designs can be used for factory style, stationary pick-and-place robots, or they can be attached to a mobile robot as an appendage. This chapter deals with the concept and design theory of robotic arms. Specific arm projects are presented in the next chapter. Incidentally, when we speak of arms, we will usually mean just the arm mechanism minus the hand (also called the gripper). 28, Experimenting with Gripper Designs, talks about how to construct robotic hands and how you can add them to arms to make a complete, functioning appendage.
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26.1 The Human Arm
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Take a close look at your own arms for a moment. You ll quickly notice a number of important points. First, your arms are amazingly adept mechanisms. They are capable of being
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maneuvered into just about any position you want. Your arm has two major joints: the shoulder and the elbow (the wrist, as far as robotics is concerned, is usually considered part of the gripper mechanism). Your shoulder can move in two planes, both up and down and back and forth. As well as moving your arm up and down and back and forth, you can rotate your shoulder as well. The elbow joint is capable of moving in one plane; it can be thought of as a simple hinge, and the bone connected to it can be rotated. The joints in your arm, and your ability to move them, are called degrees of freedom. Your shoulder provides three degrees of freedom in itself; shoulder rotation and two-plane shoulder flexion. The elbow joint adds a fourth and fifth degree of freedom: elbow flexion and elbow rotation. Robotic arms also have degrees of freedom. But instead of muscles, tendons, ball and socket joints, and bones, robot arms are made from metal, plastic, wood, motors, solenoids, gears, pulleys, and a variety of other mechanical components. Some robot arms provide but one degree of freedom; others provide three, four, and even five separate degrees of freedom.
26.2 Arm Types
Robot arms are classified by the shape of the area that the end of the arm (where the gripper is) can reach. This accessible area is called the work envelope. For simplicity s sake, the work envelope does not take into consideration motion by the robot s body, just the arm mechanics. The human arm has a nearly spherical work envelope. We can reach just about anything, as long as it is within arm s length, within the inside of about three-quarters of a sphere. Imagine being inside a hollowed-out orange. You stand by one edge. When you reach out you can touch the inside walls of about three-quarters of the peel. In a robot, such a robot arm would be said to have revolute coordinates. The three other main robot arm designs are polar coordinate, cylindrical coordinate, and Cartesian coordinate. You ll note that there are three degrees of freedom in all four basic types of arm designs.
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