Robotics

1. Robotics Lecture on SUSE April to May, 2019 W.J. (Chris) Zhang, Fellow of CAE University of Saskatchewan Canada

2. University of Saskatchewan • 1907 founded • Ranking 9 / 15 Medical Doctor cat in Canada • 2 Nobel Prizes • Synchrotron facility

7. Robot Logics of presentation: Robot definition Robot classification

8. Robot Definition Functional viewpoint: - automatically controlled, - reprogrammable multipurpose - reprogrammable axes Structural viewpoint: (see Fig. 2-1) - mechanical arm (see Fig. 2-2) - controller

9. Fig. 2-1

10. Structural view (continued) - teach station - work cell interface - program storage device - power system (electrical, hydraulic, etc.) - end-effector or tooling or gripper

11. Fig. 2-2 Mechanical arm 1. Body motion 2. wrist motion

12. Robot topology classification Serial Parallel Closed-loop

13. Robot Classification (serial) • The classification is based on the body motion but not the wrist motion • It is about how motions are deployed to drive the end-of-arm to reach a positon and orientation.

14. Cartesian geometry: (a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4) • Spherical geometry (Fig. 2-5) • Cylindrical coordinate (Fig. 2-6) • Articulated geometry (a) vertical (Fig. 2-7) (b) horizontal (Fig. 2-8)

15. Fig. 2-3 Cartesian geometry: Gantry - type

16. Fig. 2-4 Cartesian geometry: Cartesian

17. Fig. 2-5 Spherical geometry

18. Cylindrical coordinate Fig. 2-6

19. Fig. 2-7 Articulated geometry: vertical

20. Fig.2-8 Articulated geometry: horizontal

21. Work space

22. Fig. 2-9 Robot Controller

23. Fig. 2-10 Gripper

24. No motor or passive joint Fully actuated Under-actuated Fully actuated with closed-loop

25. Summary • Robot definition from two perspectives: functional and structural. • Robot structure classification • Robot classification is based on body motion but not wrist motion • Fully actuated, under-actuated, under-actuated with closed-loop