A rotational joint (R) is identified by its motion, rotation about an axis perpendicular to thead joining links. Here, the lengths of adjoining links do not change but the relative position of the links with respect to one another changes as the rotation takes place. A twisting joint (T) is also a rotational joint, where the rotation takes place about an axis that is parallel to both joining links. A revolving joint (V) is another rotational joint, where the rotation takes place about an axis that is parallel to one of the adjoining links. Usually, the links are aligned perpendicular to one another at thiskind of joint. The rotation involves revolution of one link about another. 4. Write short notes on technical specification in Robotics. 2009) Accuracy: How close does the robot get to the desired point? When the robot's program instruct the robot to move to a specified point, it does not actually perform as per specified. The accuracy measure such variance. That is, the distance between the specified position that a robot is trying to achieve (programming point), and the actual X, Y and Z resultant position of the robot end effecter. Repeatability: The ability of a robot to return repeatedly to a given position. It is the ability of a robotic system or mechanism to repeat the same motion or achieve the same position. Repeatability is is a measure of the error or variability when repeatedly reaching for a single position. Repeatability is often smallerthan accuracy. Degree of Freedom (DOF): Each joint or axis on the robot introduces a degree of freedom. Each DOF can be a slider, rotary, or other type of actuator. The number of DOF that a manipulator possesses thus is the number of independent ways in which a robot arm can move. Industrial robots typically have 5 or 6 degrees of freedom. 3 of the degrees of freedom allow positioning in 3D space (X, Y, Z), while the other 2 or 3 are used for orientation of
A rotational joint (R) is identified by its motion, rotation about an axis perpendicular to thead joining links. Here, the lengths of adjoining links do not change but the relative position of the links with respect to one another changes as the rotation takes place. A twisting joint (T) is also a rotational joint, where the rotation takes place about an axis that is parallel to both joining links. A revolving joint (V) is another rotational joint, where the rotation takes place about an axis that is parallel to one of the adjoining links. Usually, the links are aligned perpendicular to one another at thiskind of joint. The rotation involves revolution of one link about another. 4. Write short notes on technical specification in Robotics. 2009) Accuracy: How close does the robot get to the desired point? When the robot's program instruct the robot to move to a specified point, it does not actually perform as per specified. The accuracy measure such variance. That is, the distance between the specified position that a robot is trying to achieve (programming point), and the actual X, Y and Z resultant position of the robot end effecter. Repeatability: The ability of a robot to return repeatedly to a given position. It is the ability of a robotic system or mechanism to repeat the same motion or achieve the same position. Repeatability is is a measure of the error or variability when repeatedly reaching for a single position. Repeatability is often smallerthan accuracy. Degree of Freedom (DOF): Each joint or axis on the robot introduces a degree of freedom. Each DOF can be a slider, rotary, or other type of actuator. The number of DOF that a manipulator possesses thus is the number of independent ways in which a robot arm can move. Industrial robots typically have 5 or 6 degrees of freedom. 3 of the degrees of freedom allow positioning in 3D space (X, Y, Z), while the other 2 or 3 are used for orientation of