Robotics Computer Lab 2

CAD model of links

There are different classes of mechanisms, such as planar mechanisms,

spherical mechanisms and spatial mechanisms. Using the links that you have
created in the Robotics computer lab I or other links that you prefer, create
the following mechanisms:

(a) Base (b) End-effector

Figure 1 Links with one R joint

(a) RR link with parallel (b) RR links with (c) RR link with non-
joint axes intersecting joint axes intersecting orthogonal axes
Figure 1 Links with two R joints

1. Three-DOF serial planar robot. Change the configuration of the robot,

observe whether the axes of all the R (revolute) joints are always
parallel. Hint: think about the relation between the number of links
and the number of joints in a serial mechanism.
2. Three-DOF serial spherical robot. Change the configuration of the robot,
observe whether the axes of all the R joints always intersect at the
same point.
3. Three-DOF serial spatial robot.
 4. Two-DOF single-loop spatial robot. Hint: think about the relation
between the number of links and the number of joints in a single-loop
mechanism. Change the configuration of the robot, observe if all the
joints can move. By locking one joint, can you still get the mechanism
move? What will happen if you lock two joints?

You may use the following formula to calculate the number of links you need
for each of the above mechanisms.

For a serial mechanism, its DOF can be calculated using

For a planar or spherical closed-loop mechanism, its DOF can be calculated

using

For a spatial closed-loop mechanism, its DOF can be calculated using