文档介绍：MECH572A Introduction To Robotics
Lecture 5
Dept. Of Mechanical Engineering
Midterm Exam
Date & Time: 19:00 - 21:00 ,Oct 25, 2004
Open Book
Chapters 2 & 3 of the text book
Note: Regular lecture will take place 18:00 –18:45 on Oct 25
Review
New concepts
Twist of rigid body
Wrench (static analysis)
Instantaneous Screw of rigid-body motion
Define by direction + one point
Similarity between Velocity and Force/Moment Analysis
Screw-like force and moment property: Wrench axis
Review
Acceleration Analysis
Fixed reference frame:
Moving Reference frame
Corilios term in the expression
Basics in Rigid Body Dynamics
Mass properties - Mass 1st & 2nd Moment; Parallel Axes Theorem;
Principle Axes/Moments (Eigenvectors/values)
Equation of Motion – Newton-Euler Equations
Acceleration tensor
Robotic Kinematics Overview
Basic Concepts
Robot Kinematics - Study robot motion without resorting to force and mass properties. Dealing with position, velocity and acceleration
Kinematic Chain - A set of rigid bodies connected by kinematic pairs
Kinematic Pairs
Upper Pair - Line/point contact (gear, cam-follower)
Lower Pair - Surface contact (revolute, prismatic)
Robotic Kinematics Overview
Basic Concepts (cont'd)
Typical Lower Kinematic Pairs
Revolute (R) - 1 Dof (Rotation)
Prismatic (P) - 1 Dof (Translation)
Cylindrical (C) - 2 Dof (Rotation + Translation)
Helical (H) - 1 Dof (Coupled Rotation/Translation)
Planar (E) - 2 Dof (Translation in 2 directions)
Spherical (S) - 3 Dof (Rotation in 3 directions)
Robotic Kinematics Overview
Basic Concepts (cont'd)
Two Basic Types of Kinematic Pairs - R & P
All six lower pairs can be produced from Revolute (R) and Prismatic (P)
Rotating pair – Revolute (R)
Sliding pair – Prismatic (P)
Robot Kinematics Overview
Robot Manipulators
Kinematic Chains : Link + Joint
Rigid bodies Kinematic Pairs
Basic Topologies of Kinematic Chain
Open Chain
Tree
Necklace
Robot Kinematics Overview
Basic Problems in Robotic Kinemat