Robotics and Me!

1. Robotics and Me!

2. Human Arm • Versatile • Flexible • 7 degrees of freedom • End Effector.

3. Shoulder • Ball and socket • Arm muscles anchor • 3 Degrees of freedom.

4. Shoulder - First Degree • Hold arm up, pointing straight out • Raise arm (shoulder) up and down • First degree -- pitch.

5. Shoulder - Second Degree • Hold arm out as before • Move arm from left to right • Second degree - yaw.

6. Shoulder - Third Degree • Hold arm out as before • Rotate arm -- how far can you rotate?? • Third degree -- roll.

7. Elbow Joint • Hinge joint • Synovial cavity present • How many degrees of freedom??

8. Elbow - degree(s) of freedom • Hold arm straight out • Raise and lower hand • 1st Degree of freedom -- elbow pitch. • Can you turn elbow in any other direction?

9. Wrist Joint • Condyloid joint • Attachment point for end effector - hand • Does your body have any other end - effectors? What is attachment point? • Three degrees of freedom.

10. Wrist - First Degree • Hold arm up, pointing straight out, hold arm with your other hand to isolate wrist action • Raise wrist up and down • First degree -- wrist pitch.

11. Wrist - Second Degree • Hold arm out as before, hold arm with your other hand to isolate wrist action • Move wrist from left to right; how far can you go • Second degree - wrist yaw.

12. Wrist - Third Degree • Hold arm out as before, hold arm with your other hand to isolate wrist action • Rotate wrist -- how far can you rotate?? • Third degree -- wrist roll.

13. Shuttle Arm • Called Canadarm • Attached to shuttle payload bay • Has six degrees of freedom.

15. ISS Arm • Canadarm 2 • A lot bigger - 14 inches wide, 56 ft. long • Has hands at both ends • Acts like an inchworm • Has 7 degrees of freedom.

16. Shuttle vs. Station Arm

17. Shuttle vs. Station Arm

18. Shuttle vs. Station Arm

19. Robonaut • Humanoid • For EVA’s • Chordate Approach • Fits tools.

20. Robonaut Arm • Human scale • Match 8 hour EVA • Human reach and fine motion • Has to function in space environment.