Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Statics

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Statics deals with the forces and moments which are aplied on the mechanism at rest. The essential concept is a

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Statics deals with the forces and moments which are aplied on the mechanism at rest. The essential concept is a stiness.

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Statics deals with the forces and moments which are aplied on the mechanism at rest. The essential concept is a stiness. Dynamics

Mechanics 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Statics deals with the forces and moments which are aplied on the mechanism at rest. The essential concept is a stiness. Dynamics analyzes the forces and moments which result from motion and acceleration of a mechanism and a load. The terms and laws studied can be applied to robot-industrial manipulator as well as to any other machine with moving components. We will refer here to robot and will use some terms used in robotics (like end eector) but any machine could and shall be studied in similar way when position, stiness or dynamics of the system is important.

Kinematics Terminology
2/21
Fore arm J4 axis J5 axis Elbow block

Link is the rigid part of the robot body (e.g. forearm). Joint is a part of the robot body which allows controlled or free relative motion of two links (connection element).

J3 axis J6 axis Upper arm Shoulder J2 axis J1 axis

End eector is the link of the manipulator which is used to hold the tools (gripper, spray gun, welding gun. . .). Base is the link of the manipulator which is usually connected to the ground and is directly connected to the world coordinate system. Kinematic pair is a pair of links which relative motion is bounded by the joint connecting them (e.g. base and shoulder connected by J1 axis).

Base

Kinematics Terminology II
3/21

Kinematic chain is a set of links connected by joints. Kinematic chain can be represented by a graph. The vertices represent links and edges represent joints. Mechanism is a kinematic chain when one of its links is xed to the ground. Open kinematic chain is the chain which can be described by acyclic graph. Hybrid kinematic chain contains in its graph a loop. Parallel manipulators consist of equivalent loops.

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 3 DOF. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 3 DOF. Rigid body in a 2D space e.g. plane has 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 3 DOF. Rigid body in a 2D space e.g. plane has 3 DOF. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 3 DOF. Rigid body in a 2D space e.g. plane has 3 DOF. Rigid body in a 3D space has 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom Degrees of freedom (less formal denition) is a number of independent parameters needed to specify the position of the mechanism completely. Examples: A point in a plane has 2 DOF. A point in a 3D space has 3 DOF. Rigid body in a 2D space e.g. plane has 3 DOF. Rigid body in a 3D space has 6 DOF. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Kinematics Degrees of Freedom

5/21

The DOF is important notion not only in robotics. Few more denitions are related to it: Ambient space the space robot/mechanism lives in, usually E 2 (the plane - planar manipulator) or E 3 (space). It is Euclidean space. Operational space
Robot arm

170
170

P-point path: Reverse range (alternate long and short dash line) P-point path: Entire range (solid line)

is the subspace of the ambient space occupied by any of the robot part during any of possible robot motions.
R2

Work envelope (working space)

85 315

R69 6

02

R5

26

R2 58

170
170

.
Restriction on wide angle in the rear section Note2) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note1)
R28 0

85 238

Flange downward limit line(dotted line)

308

is the subspace of the ambient space where the robot can reach by the end eector.

961

280

100

135

594

R173
R611
R331

R28 7

Restriction on wide angle in the front section Note5)

R280

31 R3

350

179

Areas as restricted by Note1) and Note3) within the operating range

76

Restriction on wide angle in the front section Note4)

444 437 258 474

Restriction on wide angle in the rear section Note1) J232 -200 degree when -45 degree J2 15 degree. Note2) J23 8 degree when J1 75 degree, 2 -45 degree. Note3) J23 -40 degree when J1 75 degree, 2 -45 degree. Restriction on wide angle in the front section Note4) J3 -40 degree when -105 degree J1 95 degree, J2 123 degree. Note5) J2 110 degree when J1 -105 degree, J1 -95 degree. However, J2 - J3 150 degree when 85 degree J2 110 degree.

Fig.2-5 Operating range diagram : RV-6S/6SC 2-14 Outside dimensions Operating range diagram

294
17

421

92

Work envelope - example Robot arm

170
170

6/21
170
170

85

315 308

85 238

Flange downward limit line(dotted line)

P-point path: Reverse range (alternate long and short dash line) P-point path: Entire range (solid line)

R2 87

Restriction on wide angle in the front section Note5)

100

R280

Restriction on wide angle in the rear section Note2) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note1)
31 R3
R28 0

961

280

135

R5

594

R173
R611
R331

350

179

Areas as restricted by Note1) and Note3) within the operating range

R6 96

294

421

R2
R2 58

92

Restriction on wide angle in the front section Note4)

76

444 437 258 474

Restriction on wide angle in the rear section Note1) J232 -200 degree when -45 degree J2 15 degree. Note2) J23 8 degree when J1 75 degree, 2 -45 degree. Note3) J23 -40 degree when J1 75 degree, 2 -45 degree. Restriction on wide angle in the front section Note4) J3 -40 degree when -105 degree J1 95 degree, J2 123 degree. Note5) J2 110 degree when J1 -105 degree, J1 -95 degree. However, J2 - J3 150 degree when 85 degree J2 110 degree.

170
170

Fig.2-5 Operating range diagram : RV-6S/6SC

85

315 308

85 238

Outside dimensions Operating range diagram

Flange downward limit line(dotted line)

R2 87

Restriction on wide angle in the front section Note5)

100

R280

02

26

R28 0

961

280

135

594

350

R611
31

294

421

17

Restriction on wide angle in the rear section Note2) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note1)
31 R3

92

R173

Kinematics Degrees of Freedom

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We usually need to study the position of the end eector or the tool xed to it. Let us assume the end eector or tool is a rigid body. The rigid body position in the 3D ambient space can be described by six parameters. The semantics and values depend on the chosen parametrization, e.g. position of the reference point on it (3 parameters) and 3 angles. The position space is the 6D (3D for planar case) space representing all possible positions of rigid body in 3D (2D) ambient space. The end eector position can be studied in this 6D space position space. The working space is a subspace of the position space containing positions which can be reached by end eector (tool). All required end eector positions shall of course lie in the working space, so the feasibility of the particular robot use (its reach) shall be studied in this space.

Types of kinematic pairs Symbol Name has (f )/constraints (c) DOF 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Spherical

3/3

Revolute

1/5

Prismatic

1/5

Cylindrical Flat

2/4 3/3

Degrees of Freedom Grbler (Kutzbach) criterion The number of degrees of freedom for mechanism: ci number of constraints imposed by joint i, fi number of DOF permitted by joint i, n number of links in the mechanism (mechanism has one link xed), j number of joints in the mechanism (all shall be binary), number of DOF of the space in which the mechanism lives, F number of DOF of the whole mechanism.
j

F = (n j 1) +
i=1

fi,

alternatively
j

F = (n 1)
i=1

ci.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Grbler (Kutzbach) criterion Example

10/21

The number of degrees of freedom for mechanism:

ci number of constraints imposed by joint i, fi number of DOF permitted by joint i, n number of links in the mechanism (mechanism has one link xed), j number of joints in the mechanism (all shall be binary), number of DOF of the single rigid body in ambient space, F number of DOF of the whole mechanism.
j

F = (n j 1) +
i=1

fi,

alternatively
j

F = (n 1)
i=1

ci.

Typical structure of manipulators Cartezian PPP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Typical structure of manipulators Cylindrical RPP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Typical structure of manipulators Spherical RRP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Typical structure of manipulators Angular RRR 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Typical structure of manipulators cranes RRP and RRPP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Typical structure of manipulators SCARA RRRP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Animations taken from

Masud Salimians web page

Typical structure of manipulators Stewart platform 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Extending the robot reach Angular robot on gantry 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Extending the robot reach Angular robots, product on turn table 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Extending the robot reach Angular robots, product on turn table 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Extending the robot reach Angular robot, product on turn table 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Fore arm J4 axis J5 axis Elbow block

J3 axis J6 axis Upper arm Shoulder J2 axis J1 axis

Base

85

315 308

85 238

Flange downward limit line(dotted line)

R2 87

Restriction on wide angle in the front section Note5)

100

R280

Restriction on wide angle in the rear section Note2) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note1)
31 R3
R28 0

961

280

135

92

594

R173
R611
R331

350

179

Areas as restricted by Note1) and Note3) within the operating range

Restriction on wide angle in the front section Note4)

76

444 437 258 474

Restriction on wide angle in the rear section Note1) J232 -200 degree when -45 degree J2 15 degree. Note2) J23 8 degree when J1 75 degree, 2 -45 degree. Note3) J23 -40 degree when J1 75 degree, 2 -45 degree. Restriction on wide angle in the front section Note4) J3 -40 degree when -105 degree J1 95 degree, J2 123 degree. Note5) J2 110 degree when J1 -105 degree, J1 -95 degree. However, J2 - J3 150 degree when 85 degree J2 110 degree.

294
17

421

85

315 308

85 238

Flange downward limit line(dotted line)

R2 87

Restriction on wide angle in the front section Note5)

100

R280

Restriction on wide angle in the rear section Note2) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note1)
31 R3
R28 0

961

280

135

92

594

R173
R611
R331

350

179

Areas as restricted by Note1) and Note3) within the operating range

Restriction on wide angle in the front section Note4)

76

444 437 258 474

Restriction on wide angle in the rear section Note1) J232 -200 degree when -45 degree J2 15 degree. Note2) J23 8 degree when J1 75 degree, 2 -45 degree. Note3) J23 -40 degree when J1 75 degree, 2 -45 degree. Restriction on wide angle in the front section Note4) J3 -40 degree when -105 degree J1 95 degree, J2 123 degree. Note5) J2 110 degree when J1 -105 degree, J1 -95 degree. However, J2 - J3 150 degree when 85 degree J2 110 degree.

294
17

421

170
170

P-point path: Reverse range (alternate long and short dash line) P-point path: Entire range (solid line)

R2
R2 58
R6 96

170
170

02

R5 26