Appendage with Axes That Allow Movement
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The manipulator, which doses the physical work of the robotic system, consists of two sections: Replica Breitling Watches the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached. Fig. 13. 2 illustrate the connection of the base and the appendage of a robot.
Wrist that allows additional axis motion
Base
The base of the manipulator is usually fixed to the floor of the work area. Sometimes, though, the base may be movable. In this case, the base is attached to either a rail or a track, allowing the manipulator to be moved from one location to another.
Fig.13.2Basic components of robot’s manipulator
As mentioned previously, the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be a straight, movable arm or a jointed arm. The jointed arm is also known as an articulated arm.
The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base, which, in turn, is secured to a mounting. This mounting ensures that the manipulator will remain in one location.
At the end of the arm, a wrist (Fig. 13.2) is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.
The manipulator’s axes allow it to perform work within a certain area. This area is called the work cell of the robot, and its size corresponds to the size of the manipulator. As the robot’s physical size increase, the size of the work cell must also increase.
Actuators, or drive systems control the movement of the manipulator. The actuator, or drive system, allows the various axes to move within the work cell. The drive system can use electric, hydraulic, or pneumatic power. The energy developed by the drive system is converted to mechanical power by various mechanical drive systems. The drive systems are coupled through mechanical linkages. These linkages, in turn, drive the different axes of the robot. The mechanical linkages may be composed of chains, gears, and ball screws.
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