Robotica - grados de libertad
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Transcript of Robotica - grados de libertad
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Capítulo 2Grados de libertad
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Articulacion lineal o prismática
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Articulación de giro
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Articulación planar: 2 lineales
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Articulación cilindrica: 1 giro, 1 lineal
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Articulación esférica: 3 giros en planos perpendiculares
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Robot articulado: grados de libertad
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Ejes de coordenadas
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Robot cartesiano
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Robot cilindrico 1 rotación en la base 2 lineales
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Robot esferico 2 rotaciones y 1 lineal
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Robot articulado con 5 grados de libertad
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Robot SCARA 2 rotaciones paralelas 1 lineal
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Historia...
A modern reconstruction of the Chinese Wood Cow tha was designed and built
since Vth century B.C. (from Ancient Chinese Machines Foundation at National Cheng
Kung University in Tainan).
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Historia...
An Arabic design of an automaton by Al-Jazari in XIIth century
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Historia...
The writer automata by Jaquet-Droz in 1760:
a) the robot shape; b) the mechanisms
a) b)
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Historia...
The Japanese tea maidservant automaton whose design was developed in the
XVIIth century: a) a modern reconstruction; b) an original design scheme.
a) b)
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Historia...
El pato de Jacques de Vaucanson (1709-1782)
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Historia...
Walking robots: a) Honda robot built in 1993; b) Waseda robot version of 1997; c) EP-WAR built in 1996.
(Photos are taken from web pages