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Third Session
Make a move to make it move
Kareem In Manila
Robot & Structure
Robot
Motion Control System
Actuator Power Source Load Power
transmission
Mechanical equations
Types of motion
• Pure Rotational.
• Pure Translational.
• Complex motion
Control system
Fluid power control
Hydraulic system
Pneumatic system
Electrical power control
Power transmission Elements
Gears. Belts.Chains.
Terminologies
• Link.• Chain.• Mechanism.• Machine.• Robot.
Joints
Revolute Joint (R-Joint) Prismatic Joint (P-Joint)
Robotics Manipulator
Forward and Reverse Kinematics
(R-Joint Manipulator)Single link Manipulator
XQ=a cosθ
YQ=a sinθ
2-Links Manipulators
RR manipulator RP manipulator
2-Links Manipulator
PP manipulator
Reverse Analysis:
Given: XQ and YQ.
Required: θ1 and θ2.
1. Square XQ & YQ.
2. Add Both Equations.
RR manipulator
RR manipulator
RR manipulator
RR manipulator
RR manipulator
RR manipulator
RR manipulator
RP Manipulator
RP Manipulator
RP Manipulator
RP Manipulator
Answer ????
RP Manipulator
PP Manipulator
PP Manipulator
Video “ ..... صغيرين كنا لما زمان ”فاكر
3-link Manipulator
RRR Manipulator
Manipulator Variables:θ1,θ2, θ3
Forward analysis
RRR Manipulator
Links Orientation:
RRR Manipulator
RRR Manipulator
Required:β,γ,θ2, and θ3
Given:XQ,YQ, and θ1
Leadership Skills
Team Work
Vision
Decisions.
Video “ اليابانية المحركات ”موسيقى
Positions of the links
Velocity and acceleration analysis
Task
RRP Manipulator PRP Manipulator