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Robot Reach
Robot reach, also known as the work envelope or work volume, is the space of all points in the surrounding space that can be reached by the robot arm. Reach is one of the most important characteristics to be considered in selecting a suitable robot because the application space should not fall out of the selected robot's reach
Robot Reach
For a Cartesian configuration the reach is a rectangular-type space. For a cylindrical configuration the reach is a hollow cylindrical space. For a polar configuration the reach is part of a hollow spherical shape.
Robot Reach
Robot reach for a jointed-arm configuration does not have a specific shape.
Envelope
Envelope: A three-dimensional shape that defines the boundaries that the robot manipulator can reach; also known as reach envelope. a) Maximum envelope: the envelope that encompasses the maximum designed movements of all robot parts, including the end effector, workpiece and attachments. b) Restricted envelope is that portion of the maximum envelope which a robot is restricted by limiting devices. c) Operating envelope: the restricted envelope that is used by the robot while performing its programmed motions.
Other Terminologies
Maximum Speed: A robot moving at full extension with all joints moving simultaneously in complimentary directions at full speed. The maximum speed is the theoretical values which does not consider under loading condition.. Payload: The maximum payload is the amount of weight carried by the robot manipulator at reduced speed while maintaining rated precision. Nominal payload is measured at maximum speed while maintaining rated preci-sion. These ratings are highly dependent on the size and shape of the payload due to variation in inertia
This kinematic analysis involves two different kinds of problems: 1. Determining the coordinates of the endeffector or end of arm for a given set of joints coordinates. 2. Determining the joints coordinates for a given location of the end-effector or end of arm.
Location of End-effector
Generally, for robots the location of the endeffector can be defined in two systems: a. joint space b. world space (also known as global space)
Exercise
In the image below the end effector of the robot arm is moving from the blue point to the red point. In the top example, the end effector travels a straight line. This is the only possible motion this arm can perform to travel a straight line. In the bottom example, the arm is told to get to the red point as fast as possible. Given many different trajectories, the arm goes the method that allows the joints to rotate the fastest. Which method is better?
Joint Space
In joint space, the joint parameters such as rotating or twisting joint angles and variable link lengths are used to represent the position of the end-effector Vj = (, ) for RR robot Vj = (L1, , L2) for LL robot Vj = (, L2) for TL robot where Vj refers to the position of the endeffector in joint space
World Space
In world space, rectilinear coordinates with reference to the basic Cartesian system are used to define the position of the endeffector Usually the origin of the Cartesian axes is located in the robot's base VW = (x, y) where VW refers to the position of the endeffector in world space
Coordinate Transformation
The transformation of coordinates of the end-effector point from the joint space to the world space is known as forward kinematic transformation Similarly, the transformation of coordinates from world space to joint space is known as backward or inverse kinematic transformation
should be L3