Links and Joints

• Links: The rigid sections or “bones” in the arm connecting the joints, providing
structure and reach.
• Joints: The pivoting or sliding connections between links. Types include rotary
(revolute) and linear (prismatic) joints.
• The arrangement and number of links and joints define the overall range and
flexibility of the robot arm.

Wrist Rotation
• The wrist is the part of the robot arm closest to the end effector (tool).
• Wrist rotation adds more freedom, allowing the end tool to orient in various
directions.
• Many robot wrists have multiple axes to allow advanced manipulation, such as
twisting or turning the gripper.

Mechanical Transmission in Robotics: Pulleys, Belts, Gears, and Harmonic Drive

Mechanical transmission systems are essential in robotics for transferring and controlling
motion and power between different parts of a robot, especially between motors (actuators)
and the moving joints or links. The overview of each type:
1. Pulleys and Belts
What They Are
• Pulleys: Wheel-like components with a groove around the edge.
• Belts: Flexible loops (often rubber or synthetic) that fit into the pulleys.
How They Work
• When a motor turns one pulley, the belt transfers this movement to another pulley,
driving a shaft or joint.
• Used for transferring power over distances, even around corners.
Key Features
• Smooth and Quiet Operation: Belts cushion some vibration and noise.
• Slip Possibility: If overloaded, the belt may slip—can be a safety advantage.
• Limited Precision: Not as accurate as direct-drive systems, but simple and cost-
effective.
Applications
• Moving conveyor belts in material handling robots.
• Driving linear actuators or other sub-assemblies in robots and automation systems.
2. Gears
What They Are
• Gears: Rotating machine parts with teeth that mesh with one another to transmit
torque and rotation.
How They Work
• Two or more gears interlock; when one turns, it forces the other(s) to turn.
• Gears can change speed, direction, and torque (twisting force).
Key Features
• Torque Multiplication/Reduction: By changing gear sizes, you can increase or
decrease force.
• Direction Change: Gears can turn movement 90°, 180°, etc.
• High Precision and Reliability: Critical for robotic joints needing exact movement.
Applications
• Robot arms and wrists for lifting heavy objects or precise movement.
• Wheel drives in mobile robots.
3. Harmonic Drive (Strain Wave Gear)
What It Is
• A compact, high-precision gearbox commonly used in robotics.
• Consists of three main parts: a flexible spline, a circular spline, and a wave generator.
How It Works
• The wave generator flexes the flexible spline, which selectively engages teeth on the
circular spline.
• This unique action creates huge reduction ratios (robot joint can turn very slowly and
precisely even if the motor spins fast), in a small package.
Key Features
• Zero or Near-zero Backlash: No "play" or looseness—crucial for tasks requiring
extreme precision, like assembling tiny electronics.
• High Torque, Compact Size: Powers heavy robot arms or joints efficiently.
• Long Life, Low Maintenance: Very reliable and durable.
Applications
• Industrial robot arms (especially at the "wrist" or "elbow" joints).
• Precision medical or surgical robots.
• Space-constrained or highly accurate applications.
Linear and Rotary Motion in Robotics
Understanding how robots move is crucial to robotics. Robots achieve motion using two key
types: linear motion (moving in a straight line) and rotary motion (moving in a circular or
angular path). Both motions are made possible by specific devices and actuators.
Linear Motion
Linear motion means moving along a straight path—imagine how a train moves on rails or a
drawer slides out.
Characteristics
• The robot or part travels from Point A to Point B along a straight axis.
• Commonly described using X, Y, Z coordinates (like movement on a 3D grid).
• Used for applications like pick-and-place, assembly, and 3D printing.
Examples in Robotics
• Moving a robotic arm directly up/down or side-to-side.
• Sliding parts in a CNC (Computer Numerical Control) machine, 3D printer, or
automatic storage and retrieval system.
Rotary Motion
Rotary motion is movement around a fixed axis—imagine a spinning fan or a wheel turning.
Characteristics
• The robot’s parts rotate or swivel about a joint.
• Measured in angles (degrees), with movements like twisting, turning, or spinning.
Examples in Robotics
• The rotation of a robot’s “elbow,” “shoulder,” or “wrist.”
• Turning wheels or rotating end effectors (tools at the end of a robotic arm).
• Rotating objects for painting, drilling, or welding in automated manufacturing.

Selection Criteria for Robots

Choosing the right robot for an application involves analyzing multiple factors to ensure
efficiency, cost-effectiveness, and suitability for the task. Below are the key criteria and
considerations that guide the selection process:
1. Application and Task Requirements
• Type of Application: Identify whether the robot will be used for welding, painting,
assembly, material handling, packaging, or other tasks.
• Automation Objectives: Determine the specific goals, such as increasing speed,
improving quality, or reducing labour costs.
2. Payload and Reach
• Payload: The maximum weight the robot can handle, including tools and the
workpiece. Consider not just the object but also any attachments or grippers.
• Reach: The furthest distance the robot arm must travel from its base to complete the
required operations. Both vertical and horizontal reach are crucial for covering the
workspace.
3. Degrees of Freedom (Axes)
• Degrees of Freedom (DOF): The number of independent movements the robot can
make. More DOF means greater flexibility and an ability to perform complex
motions.
• Workspace Envelope: Ensure the robot can move in the required directions and
reach all target points.
4. Precision and Repeatability
• Accuracy: The robot's ability to reach exact positions.
• Repeatability: The ability to return to the same position over many cycles is vital in
applications like assembly or electronics manufacturing.
5. Space and Footprint
• Installation Space: Consider available space, layout restrictions, and accessibility for
operators and maintenance.
• Robot Size: Ensure the robot fits within the workspace without interfering with other
equipment or processes.
6. Work Environment
• Operating Conditions: Assess dust, humidity, temperature, contamination, or
exposure to chemicals.
• Protection Rating: Choose robots with proper sealing or protection class (IP rating)
for harsh environments.
7. Cost and Return on Investment (ROI)
• Initial Cost: Evaluate purchase price in context of long-term benefits.
• Operational Costs: Consider maintenance, energy consumption, spare parts, and
expected lifespan.
• ROI Analysis: Balance up-front investment with expected efficiency, quality
improvements, and labour savings.
8. Flexibility and Future-Proofing
• Modular Design: Can the robot be modified or upgraded easily?
• Versatility: Prefer robots that can be reprogrammed or redeployed for different tasks
if production needs change.
9. Safety
• Compliance: Ensure the robot meets all relevant safety standards for the intended
environment.
• Features: Look for built-in safety systems, sensors, and collaborative capabilities if
working alongside humans