By Moshe Shoham (auth.)

ISBN-10: 1461598885

ISBN-13: 9781461598886

ISBN-10: 1461598907

ISBN-13: 9781461598909

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**Additional info for A Textbook of Robotics 2: Structure, Control and Operation**

**Example text**

31B: The work volume of a horizontal articulated robot Let us designate the extent of motion of the prismatic joint by A, and the lengths of the links as L1 and L2. In spite of the assumptions and comparisons made above, in which all links were taken as equal, the present section discusses cases where L1 and L2 are not equal, in order to present all possible work volume shapes for this type of robot. Assuming that the revolute joints are capable of 360P rqtation, the work envelope will be in the shape of a cylinder - hollow if L2 is smaller than Ll , and solid if L2 is equal to or greater than L1• The equations describing cylinders, respectively are: the hollow and solid VHA = TIA{(L 1 + L2)2 - (L1 - L2)2} VHA = TIA(L 1 + L2)2 52 The mechanical arm In these formulas, VHA is the work volume of a horizontal articulated robot.

32: The work volume of a vertical articulated robot 53 Structure, Control and Operation Let us designate the lengths of the vertical articulated robot links as Ll and L2' as in Figure 2-32. Again, in spite of the assumptions and comparisons drawn above, in which all links were taken as equal, the present section discusses cases where Ll is not equal to L2' in order to present all possible work volume shapes for this type of robot. Assuming that the revolute joints are capable of 36CP rotation, the work envelope will be in the shape of a sphere - hollow if L2 is smaller than Ll' and solid if L2 is equal to or greater than Ll.

The formula for this work volume is as follows: The values represented in this formula are: VCYL = cylindrical robot work volume; = linear displacement of joint I (height of the cylinder) • = linear displacement of joint 2 (a quantity which, when added to L, 48 denotes the The mechanical arm radius of the outer volume accessible to the end effector); L = radius of the internal volume not accessible to the end effector. 29: The work volume of a cylindrical robot 49 Structure, Control and Operation Spherical Robot Work Volume The spherical robot carries out two rotary motions and one linear motion, which combine to form a spherical work volume.

### A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

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