polso robotica – 01cfidv 02cficy braccio
TRANSCRIPT
![Page 1: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/1.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/1
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Robot = Braccio + polso (arm + wrist)
Polso
Braccio
![Page 2: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/2.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/2
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
12
3
4
6
7
Polso
Braccio
5
GDL Braccio
![Page 3: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/3.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/3
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Tipi di braccio robotico
Il braccio si descrive con una sigla che indica il n.ro di giunti e il loro tipo
P = giunto prismaticoR = giunto rotoidale
Tipi di robot• Cartesiano ⇒ 3P• Cilindrico ⇒ 2P-1R• Polare o sferico ⇒ 1P-2R• SCARA 1P-2R;
SCARA = Selective Compliance Assembly Robot Arm• Articolato o antropomorfo ⇒ 3R• Struttura parallela
![Page 4: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/4.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/4
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CARTESIANO 1
![Page 5: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/5.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/5
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CARTESIANO 2
![Page 6: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/6.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/6
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CARTESIANO 3
![Page 7: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/7.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/7
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CARTESIANO 4
![Page 8: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/8.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/8
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CILINDRICO 1
![Page 9: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/9.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/9
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CILINDRICO 2
![Page 10: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/10.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/10
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
CILINDRICO 3
![Page 11: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/11.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/11
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Polare 1
![Page 12: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/12.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/12
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Polare 2
![Page 13: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/13.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/13
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Polare 3
![Page 14: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/14.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/14
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
SCARA 1
![Page 15: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/15.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/15
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
SCARA 2
![Page 16: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/16.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/16
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
SCARA 3
![Page 17: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/17.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/17
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Articolato 1
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Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/18
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Articolato 2
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Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/19
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Articolato 3
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Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/20
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Articolato 4
![Page 21: Polso ROBOTICA – 01CFIDV 02CFICY Braccio](https://reader035.vdocuments.site/reader035/viewer/2022081700/62d30d00be1608108e13554a/html5/thumbnails/21.jpg)
Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 004/21
RO
BO
TIC
A –
01
CFI
DV
02
CFI
CY
Stuttura parallela