Robot Mechanisms and Interactions

What is a robot defined as?

What is a fundamental functional requirement for a robotic system?

What is the term for a single rigid body involved in a robot mechanism?

Which type of joints are involved in the extremities of biological creatures?

What is a prismatic joint also known as?

What is the number of prismatic joints in the Cartesian coordinate robot?

How many types of primitive joints are there?

Which type of coordinate system does the robot arm structure in Figure 3.1.3 correspond to?

What is a revolute joint also referred to as?

What do the coordinates r and z represent in the cylindrical robot?

What is a combination of links referred to as?

What is the number of revolute joints in the spherical robot?

What is the purpose of a robot's kinematic structure being analogous to a coordinate system?

What is ignored when treating each body as rigid in a robot mechanism?

Why are prismatic and revolute joints simple to build?

How many types of robot arm structures are shown in Figures 3.1.2 ~ 4?

A robot is a machine capable of physical motion for interacting with the environment through manipulation, locomotion, and other tasks that change the state of the environment or the robot relative to the environment.
Robots have mechanisms for performing a class of tasks, with various types developed over the decades.

A robot mechanism consists of multiple rigid bodies (links) connected together, ignoring elasticity and deformations.
A combination of links is referred to as a linkage.
There are two primitive connections between a pair of links: prismatic joints and revolute joints.

A prismatic joint is a connection between two links that allows translational displacement along a fixed axis.
It is also called a sliding joint.

A revolute joint is a connection between two links that allows rotation about a fixed axis.
It is also referred to as a hinge, articulated, or rotational joint.

Robot mechanisms with kinematic structures analogous to coordinate systems can locate their end-effectors in three-dimensional space.
Examples of robot arm structures include:
- Cartesian coordinate robot: three prismatic joints corresponding to x, y, and z axes.
- Cylindrical coordinate robot: one revolute joint and two prismatic joints, with r, θ, and z coordinates.
- Spherical coordinate robot: two revolute joints and one prismatic joint, with r, θ, and φ coordinates.