Ch.

1: Introduction
What is a Robot?

A robot is a reprogrammable, multifunctional

manipulator designed to move material, parts, tools,
or specialized devices through variable programmed
motions for the performance of a variety of tasks.
(Robot Institute of America)
 Ch. 1: Introduction
Features

• Reprogrammable manipulator
• Multifunctional
• Motion
 Ch. 1: Introduction
Robot Classification by Geometry

Mobile (wheel) robot

 Ch. 1: Introduction
Parallel robot

ABB Tricept parallel robot

 Ch. 1: Introduction
Serial robot

Adept Industrial robot

 Ch. 1: Introduction
Mobile + Serial robot

NASA’s Mars rover

 Ch. 1: Introduction
Humanoid robot

Honda Asimo
 Ch. 1: Introduction
Flying robot

Seiko-Epson flying micro robot

 Ch. 1: Introduction
Serpentine robot
 Ch. 1: Introduction
Serial Manipulator

• large workspace
• simple structure
• achieve various tasks through
changeable wrists and end effectors
• most common Æ industrial robots
 Ch. 1: Introduction
Types of Joint

• prismatic joint
• revolute joint
 Ch. 1: Introduction
• helical joint (prismatic + revolute)
• spherical joint
 Ch. 1: Introduction
Wrists

Spherical wrist
 Ch. 1: Introduction
End effectors
 Ch. 1: Introduction
Common Kinematic Arrangements

Articulated Manipulator (RRR)

 Ch. 1: Introduction
Spherical Manipulator (RRP)
 Ch. 1: Introduction
SCARA Manipulator (RRP)
 Ch. 1: Introduction
SCARA Manipulator (RRP)
 Ch. 1: Introduction
Cylindrical Manipulator (RPP)
 Ch. 1: Introduction
Cartesian Manipulator (PPP)
 Ch. 1: Introduction
Parallel Manipulator
 Ch. 1: Introduction
Workspace: space which the end-
effector can reach