By Adam Morecki, Jozef Knapczyk
This quantity comprises the elemental ideas of contemporary robotics, uncomplicated definitions, systematics of robots in undefined, provider, drugs and underwater task. vital info on strolling and mili-walking machines are incorporated in addition to attainable purposes of microrobots in medication, agriculture, underwater activity.
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Extra info for Basics of Robotics: Theory and Components of Manipulators and Robots
Taking application as the criterion, the following classes of robots can be distinguished: - for research, - for training, - for industry, - for research under water, in space and on the surfaces of other planets. Applying the criterion of the degree of specialization, we can distinguish: - ospecialized robots, - special robots, - all-purpose robots. 2. 3. ·Systematization of manipulators and robots 27 Robots can also be divided into the following classes according to the type of drive system used: - with a pneumatic drive system, - with a hydraulic drive system, - with an electric drive system, - with a mixed drive system.
Those solutions which meet the conditions for unit vectors m and n are selected from the possible ones. 3) T =T- 1 , T T =E ],1 1,) 1,] ),1 where E is the unitmy matrix whose elements on the diagonal equal one, the rest being zero. 2. m. n, The rotation of the i system by an angle 0 about an arbitrarily oriented axis with a unit vector u; given in the j system, can be broken down into three successive rotations: I) The rotation of unit vector U; until it coincides with the zi axis, 2) The rotation of angle 0 about the zi axis, and 3) the rotation of system ito the final position.
D = ( ~Q·.. 24) The angular velocity vector of the k link is determined as follows: k wk • = L,B1_l. 25) j=l where B1. 0 is the 01thogonal matrix of the j-l system's rotation relative to the 0 base, obtained from the 1}. 1) formula, by omitting the last row and column. Thus: BJ-1,o =[lJ-1 mJ-1 nJ_,]= [ 'j-l,x mj-l,x IJ-1,y. 25a) 48 3. Manipulator kinematics where: IJ-1 = [IJ-l,x IJ-l,y 0·-I,z ]T, mi-l= [mJ-l ,x mJ-l,y mJ-l,z ]T, nJ-1 = [nj-l ,x nJ-I,y nJ-l,z f are the unit vectors of the j-1 system axes described in system 0.