![\"Da](\"http:\/\/18.218.32.224\/wp-content\/uploads\/2018\/06\/Da-Vincis-Front-wheel-Drive.jpg\")
<\/a><\/p>\nFig. 1:<\/span> Leonardo da Vinci\u2019s front wheel drive, rack-and-pinion steering animated cart, (photos courtesy of Biblioteca Ambrosiana in Milan)<\/span><\/p>\n Unimate introduced its First Robotic Arm<\/a>, invented by George Devol<\/a> in 1962<\/span><\/p>\n The first industrial robotic arm was installed at the General Motors plant in Ternstedt, New Jersey, for automated die casting.<\/span><\/p>\n The robot arm resembles the human arm:<\/span><\/p>\n It has a base (torso) which enables it to rotate 180 degrees, connecting the arm (above the base) to the \u2018shoulder\u2019 joint \u2018(manipulator) and also has rotational axes about its \u2018elbow\u2019 and \u2018wrist\u2019 joints. The hand(end effector) is connected to the wrist joint.<\/span><\/p>\n Adaptation of robotic arms are along the lines of human anatomy and kinesiology<\/span><\/p>\n Standalone robotic arms are often classified as full robots.<\/span><\/p>\n Jointed robotic arms \u00a0allow the arm to interact with the environment (product or workpiece) and have the following “4 parts”<\/strong><\/span><\/p>\n The shoulder joint the foundation for most modern robotic arms is the highest load-bearing joint in the arm and has the widest range of motion of any joint in the human body. The three degrees-of-freedom at the shoulder are yaw, pitch, and roll.<\/span><\/p>\n The elbow joint provides the wrist hand with:<\/span><\/p>\n The wrist mechanisms developed for robotic arms were crucial in even the earliest prototypes. The wrist is the end-effector terminus of the robotic arm and it allows the arm to be manipulated in three-dimensional space. The robotic wrist is the \u2018sine qua non\u2019 for high-performance robotic arms.<\/span><\/p>\n The end effector, <\/span>also commonly called End of Arm Tool,<\/span> is a device or tool that’s connected to the end of a robot arm (where the hand \/wrist would be<\/span> ) and <\/span>interacts with the environment (meaning<\/span> the product or workpiece) to accomplish a specific task.<\/span><\/p>\n They are application specific, and many arms will fit multiple end effectors.<\/span><\/p>\n Two general categories of end effectors (<\/span>including sprayers, grinders, welders, vacuums, inputs, and outputs<\/span> ) viz.<\/span><\/p>\n \u00a0 \u00a0 \u00a0 1. Grippers that grasp and manipulate the work parts during the work cycle and<\/span><\/p>\n \u00a0 \u00a0 \u00a0 2. Tools that are used to perform processing operations on the work part like spot welding, arc welding, and spray painting<\/span><\/p>\n Various end-effectors, grippers are summarized in the table below:<\/span><\/p>\n In isolation, the robot arm itself is only responsible for positioning the end effector. With the robot arm, the shoulder, elbow, and wrist move and twist to position the end effector in the exact right spot. Each of these joints gives the robot another degree of freedom<\/span><\/p>\n Based on the category of joints (mechanical structure)-6 \u00a0Major categories<\/span><\/p>\n Cartesian (also known as Gantry) robots<\/span><\/p>\n Have three joints that are coincident with the standard X-Y-Z Cartesian axes.<\/span><\/p>\n Have two parallel rotary joints to allow full movement throughout a plane, typically for pick-and-place work.<\/span><\/p>\n Consist of three or more rotary joints and are used for complex assembly operations<\/span><\/p>\n Cylindrical arms, Spherical (polar) arms and Parallel robots comprise the other three.<\/span><\/p>\n (Left to Right) Gantry Robot, Articulated Robot, SCARA Robot<\/span><\/p>\n Number of Axes<\/strong> \u2013 Two axes are needed to reach any point in a plane. Three are required to reach a point in space. Roll, pitch, and yaw control are required for full control of the end manipulator.<\/span><\/p>\n Degrees of Freedom<\/strong> \u2013 Number of points a robot can be directionally controlled around. A human arm has seven degrees; articulated arms typically have up to 6.<\/span><\/p>\n Kinematics<\/strong> \u2013 Arrangement and types of joints (Cartesian, Cylindrical, Spherical, SCARA, Articulated, Parallel)<\/span><\/p>\n The others being:<\/span> Working Envelope, Working Space, Payload, Speed, Acceleration, Accuracy,<\/b> Repeatability, Motion Control, Power Source, Drive, Compliance.<\/p>\n Robotic arms are typically used in industry.<\/span><\/p>\n Repetitive autonomous robots perform one task repeatedly based upon predetermined movements and specifically located objects. If object orientation or position is unknown, arms are often paired with machine vision and artificial intelligence to identify the object and subsequently control the arm.<\/span><\/p>\n There are generally two categories of sensors used for monitoring and control of robotic arms.<\/span><\/p>\n Robotics and the military go hand in hand, especially where the US army is concerned. Towering, advanced robots like Big Dog and the<\/span> humanoid Atlas<\/span><\/a> developed by Boston Dynamics<\/a> have been put to use in both training and real combat missions. By 2025, it\u2019s thought that the US army could have<\/span> more combat bots<\/span><\/a> than human soldiers.<\/span><\/p>\nThe Robotic Arm<\/span><\/h2>\n
![\"Degrees-of-freedom\"](\"http:\/\/18.218.32.224\/wp-content\/uploads\/2018\/06\/Degrees-of-freedom-in-the-robotic-arm.jpg\")
<\/span><\/a><\/p>\n\u00a0 \u00a0 \u00a0 1. Shoulder Joint<\/span><\/h4>\n
\u00a0 \u00a0 \u00a0 2. Elbow Joint<\/span><\/h4>\n
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\u00a0 \u00a0 \u00a03. Wrist Joint<\/span><\/h4>\n
\u00a0 \u00a0 \u00a04. Hand \u00a0(End Effector)<\/span><\/h4>\n
![\"End-Effectors](\"http:\/\/18.218.32.224\/wp-content\/uploads\/2018\/06\/End-Effectors-Grippers.png\")
<\/span><\/p>\nRobotic Arms: The category of joints<\/strong><\/h4>\n
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Robotic Arms:\u00a0<\/strong>Definition by parameters<\/strong><\/h3>\n
Applications<\/b><\/h3>\n
Sensors in Robotics:<\/h4>\n
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Hazardous Task Robots<\/span><\/h3>\n