By Moshe Shoham (auth.)

ISBN-10: 1461598885

ISBN-13: 9781461598886

ISBN-10: 1461598907

ISBN-13: 9781461598909

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**Additional resources for A Textbook of Robotics 2: Structure, Control and Operation**

**Sample text**

32: The work volume of a vertical articulated robot 53 Structure, Control and Operation Let us designate the lengths of the vertical articulated robot links as Ll and L2' as in Figure 2-32. Again, in spite of the assumptions and comparisons drawn above, in which all links were taken as equal, the present section discusses cases where Ll is not equal to L2' in order to present all possible work volume shapes for this type of robot. Assuming that the revolute joints are capable of 36CP rotation, the work envelope will be in the shape of a sphere - hollow if L2 is smaller than Ll' and solid if L2 is equal to or greater than Ll.

In this section, we will merely explain the problem of computation as a function of robot kinematic structure. Generally speaking, the target point (the point to which the end effector is to be moved) is defined in Cartesian coordinates. 41 Structure, Control and Operation Therefore, in Cartesian robots, each of the linear axes is moved the required amount, to reach the respective Cartesian coordinate of the target point, with no need for a great number of computations. However, with nonCartesian robots - cylindrical robots, for example -, the amount of motion of each joint must be separately computed from the existing Cartesian coordinates, since the movement of the joints, in this case, does not move the end effector in purely Cartesian coordinates.

IT{(L+A)3_L3} 3 In this formula, Vs is the work volume of a spherical robot. L = radius A = linear of the inner sphere not accessible by the end effector displacement of the prismatic joint Horizontal Articulated Robot Work Volume The horizontal articulated robot carries out two rotary motions and one linear motion. Figure 2-31 shows the motions and work volume of a horizontal articulated robot. , I I I A 1 I I I / - - - ......... --_ ' . . . " ~/ " ...... 31B: The work volume of a horizontal articulated robot Let us designate the extent of motion of the prismatic joint by A, and the lengths of the links as L1 and L2.

### A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

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