Wrist configuration of Robot

Wrist configuration

Roll- This is also called wrist swivel, this involves rotation of the wrist mechanism about the arm axis.

Pitch- It involves up & down rotation of the wrist. This is also called as wrist bend.

Yaw- It involves right or left rotation of the wrist.

Notation TRL:

ƒ Consists of a sliding armbody,which(Lcan joint)rotateaboutboth actuat vertical axis (T joint) and horizontal axis (R joint)

Notation TLO:

ƒConsists of a vertical column, relative to which an arm assembly is moved up or down ƒthe arm can be moved in or out relative to the column

Notation LOO:

ƒ Consistsiding joints,of twothreeofwhich areslorthogonal Other names include rectilinear robot and x-y-z robot.

Robots are devices that are programmed to move parts, or to do work with a tool. Robotics is a multidisciplinary engineering field dedicated to the development of autonomous devices, including manipulators and mobile vehicles.

Roboticists develop man-made mechanical devices that can move by themselves, whose motion must be modelled, planned, sensed, actuated and controlled, and whose motion

behaviour can be influenced by nt”“programming”iftheys in moving in safe interaction with an unstructured environment, while autonomously achieving their specified tasks.

This definition implies that a device c movable mechanism, influenced by sensing, planning, actuation and control components. It does not imply that a minimum number of these components must be implemented in software, or be changeable by the “consumer” who uses can have been hard-wired into the device by the manufacturer.