Tham khảo tài liệu 'mcgraw-hill - robot mechanisms and mechanical devices illustrated - 2003 part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 10 Manipulator Geometries Copyright 2003 by The McGraw-Hill Companies Inc. Click here for Terms of Use. This page intentionally left blank. Manipulator is a fancy name for a mechanical arm. A manipulator is an assembly of segments and joints that can be conveniently divided into three sections the arm consisting of one or more segments and joints the wrist usually consisting of one to three segments and joints and a gripper or other means of attaching or grasping. Some texts on the subject divide manipulators into only two sections arm and gripper but for clarity the wrist is separated out as its own section because it performs a unique function. Industrial robots are stationary manipulators whose base is permanently attached to the floor a table or a stand. In most cases however industrial manipulators are too big use a geometry that is not effective on a mobile robot or lack enough sensors - indeed many have no environmental sensors at all to be considered for use on a mobile robot. There is a section covering them as a group because they demonstrate a wide variety of sometimes complex manipulator geometries. The chapter s main focus however will be on the three general layouts of the arm section of a generic manipulator and wrist and gripper designs. A few unusual manipulator designs are also included. It should be pointed out that there are few truly autonomous manipulators in use except in research labs. The task of positioning orienting and doing something useful based solely on input from frequently inadequate sensors is extremely difficult. In most cases the manipulator is teleoperated. Nevertheless it is theoretically possible to make a truly autonomous manipulator and their numbers are expected to increase dramatically over the next several years. POSITIONING ORIENTING HOW MANY DEGREES OF FREEDOM In a general sense the arm and wrist of a basic manipulator perform two separate functions positioning and orienting. There are layouts where the wrist .
