Lecture 04
Lecture 04
Lecture 04
0, MSE 980
Lecture 04
1
Industrial and Collaborative Robots
2
How to select an industrial robot
4
Robot Payload and Reach
• Payload and reach are among the first Specs. for robot selection.
Source: https://new.abb.com/products/robotics/robots
5
Joints and Links in Robotic Manipulators
6
Joints Configurations
7
Robot Coordinate Systems
KR6 KUKA Robot
Tool Coordinate System
Positioning Stage Orientation Stage
8
Robot Joints
Linear joint
Rotational joint (Revolute)
10
Robot Workspaces
Polar (cylindrical) coordinate system
11
Robot Workspaces
Cartesian coordinate system
12
Articulated Robot Arm
13
Articulated Robot Arm Specifications
ABB IRB 1200
Source: https://new.abb.com/products/robotics/robots/articulated-robots/irb-1200
14
Articulated Robot Arm
ABB IRB 1200
Source: https://new.abb.com/products/robotics/robots/articulated-robots/irb-1200
15
SCARA Robot
16
Robot Work Space (Work Envelop)
17
Wrist Configurations
18
Wrist Configurations
Roll-Pitch-Roll Configuration
20
Wrist Configurations
21
What are End-effectors?
22
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