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Robotics Kinematics Overview

The document describes the kinematic configurations of several robots including SCARA, CYTON, SIR-1, Micro Manipulator, Phantom Omni, Da Vinci Surgical Robot, PUMA 560, Movemaster RM-501. It also provides brief descriptions of the Kliendiek Micro Manipulator, Geomagic Touch Haptic Device, and DaVinci Surgical Robot, including their uses. The document concludes with a brief mention of geometric analysis of the Stanford Arm.

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51 views6 pages

Robotics Kinematics Overview

The document describes the kinematic configurations of several robots including SCARA, CYTON, SIR-1, Micro Manipulator, Phantom Omni, Da Vinci Surgical Robot, PUMA 560, Movemaster RM-501. It also provides brief descriptions of the Kliendiek Micro Manipulator, Geomagic Touch Haptic Device, and DaVinci Surgical Robot, including their uses. The document concludes with a brief mention of geometric analysis of the Stanford Arm.

Uploaded by

sai
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHALUMURI YEKANTH RAM 15/03/2017

13ME33001

ME60412: ASSIGNEMENT 1

SCARA ROBOT

i ai di αi θi
1 a1 0 0 θ1
2 a2 0 π θ2
3 0 d3 0 0
4 0 d3 0 0

CYTON (7DOF)

i ai di αi θi
1 0 d1 -π/2 θ1
2 0 0 π/2 θ2
3 0 d3 -π/2 θ3
4 0 0 π/2 θ4
5 0 d5 -π/2 θ5
6 0 0 π/2 θ6
7 0 d7 0 θ7
SIR-1 ROBOT

i ai-1 di αi-1 θi
1 0 0 0 θ1
2 0 0 -π/2 θ2
3 a2 d3 0 θ3
4 a3 d4 -π/2 θ4
5 0 0 π/2 θ5
6 0 0 -π/2 θ6

Micro Manipulator

i ai di αi θi
1 a1 d1 0 0
2 a2 0 0 θ2
3 a3 d3 0 θ3
4 0 0 π/2 θ4
5 0 0 -π/2 θ5
6 0 0 0 θ6
PHANTOM Omni

i ai-1 di αi-1 θi
1 0 0 0 θ1
2 0 0 π/2 θ2
3 a2 0 0 θ3
4 0 d4 π/2 θ4
5 0 0 -π/2 θ5
6 0 0 π/2 θ6

Da Vinci Surgical Robot


i ai di αi θi
1 a1 d1 0 0
2 0 d2 0 θ2
3 a3 d3 0 θ3
4 a4 d4 0 θ4
5 a5 d5 -π/2 θ5
6 a6 0 π/2 θ6
7 0 d7 -π/2 θ7
8 a8 d8 0 θ8
9 a9 d9 0 0
10 0 0 0 θ10
11 0 d11 -π/2 θ11
12 a12 0 π/2 θ12
PUMA 560

i ai di αi θi
1 0 d1 π/2 θ1
2 a2 d2 0 θ2
3 a3 d3 π/2 θ3
4 0 d4 π/2 θ4
5 0 0 π/2 θ5
6 0 d6 0 θ6

Movemaster RM-501

i ai di αi θi
1 0 d1 -π/2 θ1
2 a2 0 0 θ2
3 a3 0 0 θ3
4 0 0 -π/2 θ4
5 0 d5 π/2 θ5
i ai di αi θi
1 0 0 -π/2 θ1
2 0 d2 π/2 θ2
3 0 d3 0 0
4 0 0 -π/2 θ4
5 0 0 π/2 θ5
6 0 0 0 θ6

Working and Uses of Specified Robots:

Kliendiek Micro Manipulator:

 Compact and flexible


 Clear and Simple
 Robust and Stable
 Fast and precise
It is employed in a wide spectrum of SEM, FIB and other microscopes for an even wider
range of applications and it has become the industry standard for OEM and retrofit
solutions with well over 2000 units in the field.

Geomagic Touch Haptic Device:

Geomagic Touch is a motorized device that applies force feedback on the user’s hand,
allowing them to feel virtual objects and producing true-to-life touch sensations as user
manipulates on-screen 3D objects. Leading companies integrate the Geomagic Touch and
haptics into their work to achieve compelling solutions.

DaVinci Surgical Robot:

With the da Vinci Surgical System, surgeons operate through just a few small
incisions. The da Vinci System features a magnified 3D high-definition vision system
and tiny wristed instruments that bend and rotate far greater than the human hand. As
a result, da Vinci enables your surgeon to operate with enhanced vision, precision
and control.

Geometric Analysis of Stanford Arm.

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