**Contents**show

• Robot having 2 parallel rotary joints to provide compliance in x-y direction (suitable for assembly tasks); sufficiently rigid in z-direction. • SCARA stands for Selective Compliant Assembly Robot Arm or Selective Compliant Articulated Robot Arm. Introduction Robotics, lecture 2 of 7.

## What is the workspace of RRP robot configuration?

Workspace: The workspace of a manipulator is the total volume swept out by the end-effector as the manipulator executes all possible motions. The workspace is constrained by the geometry of the manipulator as well as mechanical constraints on the joints.

## What is RRR in robotics?

The RRR-robot project aims at a manipulator-like system (with three rotational degrees of freedom), to test a variety of advanced nonlinear control strategies. … The iterative dynamic optimization problem of choosing appropriate servos is solved by using a rigid-robot model implemented in a symbolic manipulation program.

## What are joint variables in robotics?

The joint variables define the configuration of the manipulator by specifying the position of each joint. The end effector coordinates define the position and orientation of the end effector.

## How do you find the workspace of a robot?

To calculate the area of robot workspace is to compute the size of its corresponding polygon. Supposed a polygon made up of line segments between N vertices (x_{i},y_{i}), i=1 to N+1.

## What do mean by RRP joint?

with the sequence of joints RRP, RPR, and PRR, where R represents a revolute, or. hinged, joint, and P is a prismatic, or sliding, joint. The design equations are obtained. by equating the kinematics equations of the chain to a set of speciﬁed positions for the. end-eﬀector.

## What is a 3R manipulator?

Abstract— The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. … The design parameters space is shown to be divided into five domains where all manipulators have the same number of cusps. Each separating surface is given as an explicit expression in the DH- parameters.

## What is DH Matrix?

The Denavit and Hartenberg notation gives a standard (distal) methodology to write the kinematic equations of a manipulator. This is especially useful for serial manipulators where a matrix is used to represent the pose (position and orientation) of one body with respect to another.

## What is link length in robotics?

Suppose you’re planning to design planar robot for example with revolute joints, then the links’ lengths are simply the distances between every neighboring two joints.

## What are the 4 DH parameters?

The four parameters ai,αi,di, and θi in (3.10) are generally given the names link length, link twist, link offset, and joint angle, respectively.

## What is a workspace in robotics?

In robotics, the workspace of a robot manipulator is often defined as the set of points that can be reached by its end-effector or, in other words, it is the space in which the robot works and it can be either a 3D space or a 2D surface.

## What is reachable workspace in robotics?

The reachable workspace is the volume whereby the end effector is capable of reaching each point within the space in at least one orientation while the dexterous workspace has the end effector capable of reaching all points in all orientations.

## What do you mean by workspace of a robot?

Question 1The workspace of a robot is the volume comprising the coordinates of all points that the end-effector can reach.