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321 Kinematic Structure
321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved in closed form, i.e. a set of equations can be written that give the joint positions required to place the end of the arm in a particular position and orientation. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968. An arm design that does not follow these design rules typically requires an |
Scheinman MIT Arm (1942–2016), American pioneer in the field of robotics
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Scheinman is a surname. Notable people with the surname include: *Adam Scheinman, American screenwriter and former professional tennis player *Andrew Scheinman, American film and television producer *Jenny Scheinman (born 1973), American jazz violinist * Pinhas Scheinman (1912–1999), Israeli politician *Victor Scheinman Victor David Scheinman (December 28, 1942 – September 20, 2016) was an American pioneer in the field of robotics. He was born in Augusta, Georgia, where his father Leonard was stationed with the US Army. At the end of the war the family mov ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robot
A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics. Robots can be autonomous or semi-autonomous and range from humanoids such as Honda's ''Advanced Step in Innovative Mobility'' ( ASIMO) and TOSY's ''TOSY Ping Pong Playing Robot'' (TOPIO) to industrial robots, medical operating robots, patient assist robots, dog therapy robots, collectively programmed ''swarm'' robots, UAV drones such as General Atomics MQ-1 Predator, and even microscopic nano robots. By mimicking a lifelike appearance or automating movements, a robot may convey a sense of intelligence or thought of its own. Autonomous things are expected to proliferate in ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Serial Manipulator
Serial manipulators are the most common industrial robots and they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist". Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot. A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom. Structure In its most general form, a serial robot consists of a number of rigid links connected with joints. Simplicity considerations in manufacturing and control have led to robots with only revolute or prismatic joints and orthogonal, parallel and/or intersecting joint axes (instead of arbitrarily placed joint axes). Donald L. Pieper derived ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Donald L
Donald is a masculine given name derived from the Gaelic name ''Dòmhnall''.. This comes from the Proto-Celtic *''Dumno-ualos'' ("world-ruler" or "world-wielder"). The final -''d'' in ''Donald'' is partly derived from a misinterpretation of the Gaelic pronunciation by English speakers, and partly associated with the spelling of similar-sounding Germanic names, such as ''Ronald''. A short form of ''Donald'' is ''Don''. Pet forms of ''Donald'' include ''Donnie'' and ''Donny''. The feminine given name ''Donella'' is derived from ''Donald''. ''Donald'' has cognates in other Celtic languages: Modern Irish ''Dónal'' (anglicised as ''Donal'' and ''Donall'');. Scottish Gaelic ''Dòmhnall'', ''Domhnull'' and ''Dòmhnull''; Welsh '' Dyfnwal'' and Cumbric ''Dumnagual''. Although the feminine given name ''Donna'' is sometimes used as a feminine form of ''Donald'', the names are not etymologically related. Variations Kings and noblemen Domnall or Domhnall is the name of many ancie ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverse Kinematics
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging. Inverse kinematics is also used to recover the movements of an object in the world from some other data, such as a film of those movements, or a film of the world as seen by a camera which is itself making those movements. This occurs, for example, where a human actor's filmed movements are to be duplicated by an animated character. Robotics In robotics, inverse ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Revolute Joint
A revolute joint (also called pin joint or hinge joint) is a one- degree-of-freedom kinematic pair used frequently in mechanisms and machines. The joint constrains the motion of two bodies to pure rotation along a common axis. The joint does not allow translation, or sliding linear motion, a constraint not shown in the diagram. Almost all assemblies of multiple moving bodies include revolute joints in their designs. Revolute joints are used in numerous applications such as door hinges, mechanisms, and other uni-axial rotation devices. A revolute joint is usually made by a pin or knuckle joint, through a rotary bearing. It enforces a cylindrical contact area, which makes it a lower kinematic pair, also called a full joint. However, If there is any clearance between the pin and hole (as there must be for motion), so-called surface contact in the pin joint actually becomes line contact. The contact between the inner and outer cylindrical surfaces is usually assumed to be fr ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Closed-form Expression
In mathematics, a closed-form expression is a mathematical expression that uses a finite number of standard operations. It may contain constants, variables, certain well-known operations (e.g., + − × ÷), and functions (e.g., ''n''th root, exponent, logarithm, trigonometric functions, and inverse hyperbolic functions), but usually no limit, differentiation, or integration. The set of operations and functions may vary with author and context. Example: roots of polynomials The solutions of any quadratic equation with complex coefficients can be expressed in closed form in terms of addition, subtraction, multiplication, division, and square root extraction, each of which is an elementary function. For example, the quadratic equation :ax^2+bx+c=0, is tractable since its solutions can be expressed as a closed-form expression, i.e. in terms of elementary functions: :x=\frac. Similarly, solutions of cubic and quartic (third and fourth degree) equations can be expresse ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Iterative Algorithm
In computational mathematics, an iterative method is a mathematical procedure that uses an initial value to generate a sequence of improving approximate solutions for a class of problems, in which the ''n''-th approximation is derived from the previous ones. A specific implementation of an iterative method, including the termination criteria, is an algorithm of the iterative method. An iterative method is called convergent if the corresponding sequence converges for given initial approximations. A mathematically rigorous convergence analysis of an iterative method is usually performed; however, heuristic-based iterative methods are also common. In contrast, direct methods attempt to solve the problem by a finite sequence of operations. In the absence of rounding errors, direct methods would deliver an exact solution (for example, solving a linear system of equations A\mathbf=\mathbf by Gaussian elimination). Iterative methods are often the only choice for nonlinear equations. Howe ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Orthogonal
In mathematics, orthogonality is the generalization of the geometric notion of ''perpendicularity''. By extension, orthogonality is also used to refer to the separation of specific features of a system. The term also has specialized meanings in other fields including art and chemistry. Etymology The word comes from the Ancient Greek ('), meaning "upright", and ('), meaning "angle". The Ancient Greek (') and Classical Latin ' originally denoted a rectangle. Later, they came to mean a right triangle. In the 12th century, the post-classical Latin word ''orthogonalis'' came to mean a right angle or something related to a right angle. Mathematics Physics * In optics, polarization states are said to be orthogonal when they propagate independently of each other, as in vertical and horizontal linear polarization or right- and left-handed circular polarization. * In special relativity, a time axis determined by a rapidity of motion is hyperbolic-orthogonal to a space axis of s ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Programmable Universal Machine For Assembly
The PUMA (''Programmable Universal Machine for Assembly'', or ''Programmable Universal Manipulation Arm'') is an industrial robotic arm developed by Victor Scheinman at pioneering robot company Unimation. Initially developed for General Motors, the PUMA was based on earlier designs Scheinman invented while at Stanford University. Unimation produced PUMAs for years until being purchased by Westinghouse (ca. 1980), and later by Swiss company Stäubli (1988). Nokia Robotics manufactured about 1500 PUMA robots during the 1980s, the Puma-650 being their most popular model with customers. Some own Nokia Robotics products were also designed, likNokia NS-16 Industrial Robotor NRS-15 . Nokia sold their Robotics division in 1990. In 2002, General Motors Controls, Robotics and Welding (CRW) organization donated the original prototype PUMA robot to the Smithsonian Institution's National Museum of American History. It joins a collection of historically important robots that includes an ear ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
