By Moshe Shoham (auth.)
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Additional info for A Textbook of Robotics 1: Basic Concepts
15: Movement of a mechanical arm: (1) involving a change in gripper orientation without involving a location change, and (2) involving a gripper location without orientation change LINK CONSTRUCTION Another important factor in robot construction is the load incurred by the machine's own moving parts. The mechanical arm must be light in weight, but have a high degree of rigidity. A heavy arm necessitates large motors, making the robot much more expensive. An arm with low rigidity reduces the robot's precision, due to vibrations and response to stress.
Yaw, which is movement of the end effector to the right or left. We can use the arm in Figure 3-7, back in the section on ball and socket joints, as an example. In this case, axis 2 permits up and down ''hand'' motion (pitch), while axis 3 allows clockwise-counterclockwise motion (roll). Rotating axis 1 to a new position 90 degrees from the current position changes the motion of axis 2; instead of pitch motion, it now executes yaw motion. Figure 3-7 is an example of many possible robot wrist joint arrangements.
As we have indicated before, the third level of control we have just listed - coordination with the environmnet - is still in the experimental stages. We will discuss this topic in Chapter 9. Here, we will limit ourselves to the first two levels - actuator control and path control. Actuator Control Actuators are the units which cause motion of the robot axes. Each axis of motion of the robot arm includes, at least, a joint, a link, and an actuator. In some robots, the axes also include motion transfer devices, as well 'as mits to identify the relative position of the links.
A Textbook of Robotics 1: Basic Concepts by Moshe Shoham (auth.)