10.5. Kinematics of Common Manipulators

Try these first

1. 1.

   What is a 2-DOF robot used for?

   Hint

   Think of how many joints it has.

2. 2.

   Define Forward Kinematics.

   Hint

   It’s about going from joints to positions.

3. 3.

   What does 2-DOF stand for?

   • Two Degrees of Freedom
   • Two Directions of Force
   • Two Dimensions of Functionality

   Hint

   Remember the independent movements in a plane.

4. 4.

   Is a SCARA robot used in assembly operations?

   • True
   • False

   Hint

   Think about where most robots are found in factories.

5. 5.

   A SCARA robot needs to reach a specific point on an assembly line with limits on movement due to space. Considering its joint types and movements, how would you determine the required joint angles?

   Hint

   Sketch the robot’s workspace and visualize the reach.

6. 6.

   Design a simple assembly task for a 6-DOF manipulator. What considerations must be taken into account for both FK and IK?

   Hint

   Think about the next steps once the end position is determined.