Page 146 - Toucpad robotics C11

These are robotic manipulators, the workhorses of industrial automation. A manipulator is essentially a series of rigid
links (like bones) connected by joints (like elbows or wrists), allowing a robotic arm to reach, grasp, and manipulate
objects in three-dimensional space. Their design and control are deeply rooted in mathematical principles and
sophisticated strategies.
Basic Structure of a Robotic Manipulator Arm

Upper arm

Joint
Link
Lower arm
Power cable Wrist
Gripper Mounting flange
Motor

Waist
Base

Let’s look at the provided image to understand the fundamental parts of a typical industrial robotic manipulator arm.
You can see two views: a realistic rendering on the left and a labelled diagram on the right.

Base
Description: This is the foundational, stationary part of the robot that anchors it firmly to the ground, a workbench,
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or a mobile platform. It provides stability for the entire arm.
Referencing Image: In the labelled diagram, you can clearly see the large, circular Base at the very bottom,
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supporting the rest of the manipulator.

Joints
Description: Joints are the critical connections between the rigid segments (links) of the arm. They allow relative
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motion between these segments, enabling the robot to bend, rotate, and extend. The number of independent ways a
robot can move is determined by its number of joints, which is called its degrees of freedom.
Types: In the image, you primarily see revolute (rotational) joints, which allow parts to rotate around an axis, much
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like your shoulder or elbow. Each curved arrow in the diagram indicates a possible rotation at a joint.
Referencing Image: The diagram explicitly labels several Joints where different parts of the arm connect and rotate.
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Notice the joints at the base, waist, upper arm, and wrist areas.

Links
Description: Links are the rigid structural segments that connect one joint to another. They form the physical body of
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the robotic arm. Think of them as the ‘bones’ of the arm.
Referencing Image: The diagram clearly labels the Link connecting the base to the lower arm. Similarly, the
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Lower arm and Upper arm are also distinct links in the manipulator.
Waist

Description: This is typically the first major joint above the base, allowing the entire arm to rotate horizontally,
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sweeping across a wide workspace, much like a human turning at their waist.
Referencing Image: The diagram shows the Waist as the part directly above the Base, with a curved arrow indicating
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its rotational motion.

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Touchpad Robotics - XI