MECH 6312/ROBOTICS TECHNOLOGY

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Geometric Configurations for Robots

Module 2 : GEOMETRIC CONFIGURATIONS FOR

ROBOTS

Course Learning Outcomes:

1. Know the different types of joints.
2. Familiarize the distinction between arms and Vehicles.
3. Know how to Arm Configuration.

Geometric Configurations For Robots

In mathematics, especially projective geometry, a configuration in the plane consists of a

finite set of points, and a finite arrangements of lines, such that each point is incident to the
same number of lines and each line is incident to the same number of points.
In giving the geometric or spatial aspects of robot design, we start from the intention

Course Module
Structural elements of manipulators

even of the apparently flexible elephant-trunk like arms which have sometimes been made:
in this term the links are short and the joints many.
 MECH 6312/ROBOTICS TECHNOLOGY
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Geometric Configurations for Robots

Parallel linkages

The links side by side, in parallel. A two-dimensional illustration is given in Figure 2.3.

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 MECH 6312/ROBOTICS TECHNOLOGY
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Geometric Configurations for Robots

When armed with a positioner a robot in effect becomes a spread manipulator with many
degree of freedom. Positioners have some uses:
Course Module
1) Generating an accurate circular motion by rotating the work piece; this is used in arc
welding of circular seams.
2) Turning a work piece over so that the robot can get at both sides.
3) Helping with loading and unloading; the positioner can be double ended so that it can
present one work piece to the robot while a new work piece is being loaded into the other
end.
4) Performing a similar function to a transporter, by effectively increasing the working
volume of the robot.
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Geometric Configurations for Robots

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References and Supplementary Materials
Books and Journals
1. DJ Todd ; published in 1986; Fundamentals of Robot Technology; British Library
Cataloguing in Publication Data; Todd Dj.
2. The Merriam Webster Dictionary, incorporated, publishers Springfield Massachusetts
3. www.google.com
4. www.wikipedia.com