Question

1) Explain the following: i) 3 categories of robots, give 2 examples for each one of the category. ii) Types of joints (at least two)

Answer 1

Types of robots depend on locomotion and kinematics

1) Stationary robots

a) Spherical Robots

b) SCARA robots

2) Wheeled Robots

a) Single wheel ball robots

b) Two or more wheel robots

3) Legged Robots

a) Tripedal robots

b) Hexapod Robots

(a) Linear Joint (type L joint): The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel. Input link Output link Fig. 5.12: Linear Joint (b) Orthogonal joint (type U joint): This type of joint also have translational sliding motion, but the input and output links are perpendicular to each other during the move. Input link Output link Fig. 5.13: Orthogonal Joint (c) Rotational joint (type R joint): This type of joint provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links. Input link Output link Fig. 5.14: Rotational Joint (d) Twisting joint (type T joint): This joint also involves rotary motion, but the axis or rotation is parallel to the axes of the two links. Input link Output link Fig. 5.15: Twisting Joint (e) Revolving joint (type V-joint, V from the 'v'in revolving): In this type, axis of input link is parallel to the axis of rotation of the joint. However the axis of the output link is perpendicular to the axis of rotation Output link Input link Fig. 5.16: Revolving Joint