robotics and me! human arm versatile flexible 7 degrees of freedom end effector
Post on 15-Dec-2015
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Robotics and Me!
Human Arm Versatile Flexible 7 degrees of
freedom End Effector.
Shoulder Ball and socket Arm muscles anchor 3 Degrees of
freedom.
Shoulder - First DegreeHold arm up, pointing straight outRaise arm (shoulder) up and downFirst degree -- pitch.
Shoulder - Second DegreeHold arm out as beforeMove arm from left to rightSecond degree - yaw.
Shoulder - Third DegreeHold arm out as beforeRotate arm -- how far can you rotate??Third degree -- roll.
Elbow Joint Hinge joint Synovial cavity
present How many degrees
of freedom??
Elbow - degree(s) of freedom Hold arm straight out Raise and lower hand 1st Degree of freedom -- elbow pitch. Can you turn elbow in any other direction?
Wrist Joint Condyloid joint Attachment point for
end effector - hand Does your body
have any other end - effectors? What is attachment point?
Three degrees of freedom.
Wrist - First DegreeHold arm up, pointing straight out, hold
arm with your other hand to isolate wrist action
Raise wrist up and downFirst degree -- wrist pitch.
Wrist - Second DegreeHold arm out as before, hold arm with
your other hand to isolate wrist actionMove wrist from left to right; how far can
you goSecond degree - wrist yaw.
Wrist - Third DegreeHold arm out as before, hold arm with
your other hand to isolate wrist actionRotate wrist -- how far can you rotate??Third degree -- wrist roll.
Shuttle Arm Called Canadarm Attached to shuttle payload bay Has six degrees of freedom.
ISS Arm Canadarm 2 A lot bigger - 14
inches wide, 56 ft. long
Has hands at both ends
Acts like an inchworm
Has 7 degrees of freedom.
Shuttle vs. Station Arm
Mission Returns to Earth
Permanent
Range of Motion
Reach limited by arm length
Moves end of end with LEE’s, mobile
Fixed Joint Fixed to shuttle on one end
No fixed end
Shuttle vs. Station Arm
Degrees of Freedom
6 7
Range of Motion
Reach limited by arm length
Moves end of end with LEE’s, mobile
Joint Rotation Limited by elbow rotation
Full rotation, 7 joints rotate 540 degrees
Shuttle vs. Station Arm
Senses No sense Touch, automatic vision, collision
Mass Handling 2900 kg, upgraded to 266,000
116,000 kg
Repairs Earth In Space, redundant
Robonaut Humanoid For EVA’s Chordate Approach Fits tools.
Robonaut Arm Human scale Match 8 hour EVA Human reach and
fine motion Has to function in
space environment.
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