Mechanics

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Kinematics analyzes the geometry of a manipulator, robot or 3
machine motion. The essential concept is a position. 4
Statics deals with the forces and moments which are aplied on 5
the mechanism at rest. The essential concept is a stiffness. 6
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Dynamics analyzes the forces and moments which result from
motion and acceleration of a mechanism and a load. 8
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The terms and laws studied can be applied to robot-industrial 10
manipulator as well as to any other machine with moving 11
components. We will refer here to robot and will use some terms 12
used in robotics (like end effector) but any machine could and 13
shall be studied in similar way when position, stiffness or dynamics 14
of the system is important. 15
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ROBOTICS: Vladimír Smutný Slide 1, Page 1

 Kinematics – Terminology
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Fore arm
J4 axis Elbow block Link is the rigid part of the robot body (e.g.
J5 axis forearm).
Joint is a part of the robot body which allows
controlled or free relative motion of two
links (connection element).
J3 axis End effector is the link of the manipulator
J6 axis which is used to hold the tools (gripper,
Upper arm spray gun, welding gun. . .).
Shoulder
Base is the link of the manipulator which
J2 axis is usually connected to the ground and is
J1 axis directly connected to the world coordinate
system.

Base Kinematic pair is a pair of links which re-

lative motion is bounded by the joint
connecting them (e.g. base and shoulder
connected by J1 axis).

Joint can be either controlled or freely moving. For con- system can change its position. Freely moving joint changes
trolled joint there is an actuator mounted in it and control its status according position of other joints.

ROBOTICS: Vladimír Smutný Slide 2, Page 2

 Kinematics – Terminology II
3/21
Kinematic chain is a set of links connected by joints. Kinematic chain can be represented
by a graph. The vertices represent links and edges represent joints.
Mechanism is a kinematic chain when one of its links is fixed to the ground.

Open kinematic chain Hybrid kinematic chain Parallel manipulators

is the chain which can be de- consist of equivalent lo-
scribed by acyclic graph. contains in its graph a loop. ops.

ROBOTICS: Vladimír Smutný Slide 3, Page 3

 Kinematics – Degrees of Freedom

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Degrees of freedom (less formal definition) is a number of
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independent parameters needed to specify the position of the
mechanism completely. 3
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Examples: 5
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A point in a plane has 2 DOF.
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A point in a 3D space has 3 DOF. 8
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Rigid body in a 2D space e.g. plane has 3 DOF. 10
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Rigid body in a 3D space has 6 DOF. 12
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ROBOTICS: Vladimír Smutný Slide 4, Page 4

 Kinematics – Degrees of Freedom
5/21
The DOF is important notion not only in robotics. Few more definitions are related to it:
Ambient space – the space robot/mechanism lives in, usually E 2 (the plane - planar
manipulator) or E 3 (space). It is Euclidean space.
Operational space .

２ Robot arm

170° P-point path: Reverse range

170° (alternate long and short dash line)
P-point path: Entire range
(solid line)

R52
is the subspace of the ambient space occupied by any of the robot

2
6

R20
part during any of possible robot motions. R25
8

96
R6
Work envelope (working space) 85 315
170°

85
170°
.
Flange downward 308 238
limit line(dotted line)

P
Restriction on wide angle

R280
in the rear section Note2)

Restriction on wide angle Restriction on wide angle

R280
in the front section Note5) in the rear section Note3)

87
R2
is the subspace of the am-
Restriction on wide angle

100
in the rear section Note1)

961
280

R33
135°

92°

1
594
R173

421
bient space where the ro-
350

294
R611

R331
179

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Areas as restricted by Note1) and Note3)
°
within the operating range
76°
Restriction on wide angle

bot can reach by the end in the front section Note4)

437 258

Restriction on wide angle in the rear section

Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
444
474

Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.

Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.

effector. Restriction on wide angle in the front section

Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree.

Fig.2-5 ： Operating range diagram : RV-6S/6SC

However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree.

2-14 Outside dimensions ・ Operating range diagram

The operational (3D, physical) space shall be guarded by the technical specifications by manufacturers. The work enve-
fence, doors or invisible bariers to prevent injuries of both lope has actually little use in the practice, it can just provide
robot and humans. basic notion where the robot can work.
The cuts through the work envelope are usually drawn in

ROBOTICS: Vladimír Smutný Slide 5, Page 5

 8

96
R6
Work envelope - example
２ Robot arm
170°
170° 6/21
85 315 85
Flange downward 308 238
limit line(dotted line) 170° P-point path: Reverse range
170° (alternate long and short dash line)
P
Restriction on wide angle P-point path: Entire range

R280
in the rear section Note2) (solid line)

Restriction on wide angle Restriction on wide angle

0
R28
in the front section Note5) in the rear section Note3)

87
R2
Restriction on wide angle
100

in the rear section Note1)

961
280

R3
°

R5
31
92°
135

26

02
R2
594

R173

421
350

294
R611
R331
179

17

Areas as restricted by Note1) and Note3) R2

°

within the operating range 58

96
76°

R6
Restriction on wide angle
in the front section Note4)
444
437 258 474

Restriction on wide angle in the rear section

Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.
Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.
Restriction on wide angle in the front section
Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree. 170°
However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree. 170°

Fig.2-5 ： Operating range diagram : RV-6S/6SC

85 315 85
Flange downward 308 238
2-14 Outside dimensions ・ Operating range diagram limit line(dotted line)

P
Restriction on wide angle

R280
in the rear section Note2)

Restriction on wide angle Restriction on wide angle

0
R28
in the front section Note5) in the rear section Note3)

87
R2
Restriction on wide angle
100

in the rear section Note1)

961
280

R3
°

31
92°
135
594

R173

421
350

294
R611
R331
179

17

Areas as restricted by Note1) and Note3)

°

within the operating range

76°
Restriction on wide angle
in the front section Note4)
444
437 258 474

Restriction on wide angle in the rear section

Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.
Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.
Restriction on wide angle in the front section
Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree.
However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree.

Fig.2-5 ： Operating range diagram : RV-6S/6SC

2-14 Outside dimensions ・ Operating range diagram

ROBOTICS: Vladimír Smutný Slide 6, Page 6

 Kinematics – Degrees of Freedom
7/21

We usually need to study the position of the end effector or the tool fixed to it. Let us
assume the end effector or tool is a rigid body.
The rigid body position in the 3D ambient space can be described by six parameters.
The semantics and values depend on the chosen parametrization, e.g. position of
the reference point on it (3 parameters) and 3 angles.
The “position” space is the 6D (3D for planar case) space representing all possible
positions of rigid body in 3D (2D) ambient space.
The end effector position can be studied in this 6D space position space.
The working space is a subspace of the position space containing positions which can
be reached by end effector (tool). All required end effector positions shall of course
lie in the working space, so the feasibility of the particular robot use (its reach)
shall be studied in this space.

ROBOTICS: Vladimír Smutný Slide 7, Page 7

 Types of kinematic pairs

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Symbol Name has (f )/constraints (c) DOF
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Spherical 3/3
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Revolute 1/5
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Prismatic 1/5
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Cylindrical 2/4
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Flat 3/3 16
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Revolute joint is preferred in machinery as it can be easily We will study mainly robots with revolute and prismatic
and cheply manufactured, it has low friction, good rigidity. joints.

ROBOTICS: Vladimír Smutný Slide 8, Page 8

 Degrees of Freedom – Grübler (Kutzbach) criterion

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The number of degrees of freedom for mechanism:
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ci number of constraints imposed by joint i, 3
fi number of DOF permitted by joint i, 4
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n number of links in the mechanism (mechanism has one link fixed), 6
j number of joints in the mechanism (all shall be binary), 7
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λ number of DOF of the space in which the mechanism lives,
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F number of DOF of the whole mechanism. 10
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j
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X
F = λ(n − j − 1) + fi, 13
i=1 14
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alternatively 16
j
X 17
F = λ(n − 1) − ci.
i=1
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As a homework think about telescopic radio antena with 5 Does it hold equality in Grübler (Kutzbach) criterion? Where
cylinders. How many degrees of freedom has a final cylinder? is the singularity?

ROBOTICS: Vladimír Smutný Slide 9, Page 9

 Grübler (Kutzbach) criterion – Example
The number of degrees of freedom for mechanism:
Consider a transom mechanism on the figure. It models a This gives the correct result of 1 DOF of the mechanism.
window opened by sliding handle. The system could be viewed
as planar or spatial. The number of degrees removed by the
joint will be denoted by planar/spatial numbers. The number
of links n = 4. The links are:
1 – window
2 – connecting bar
3 – sliding handle
4 – window frame
They are connected by joints:
A – window hinge , revolute, removing DOF 2/5,
B – window – bar hinge , revolute, 2/5,
C – bar – slider joint , revolute, 2/5,
D – 1st handle holder , prismatic, 2/5,
E – 2nd handle holder , prismatic, 2/5.
Let us insert the data into Gruebler formula:
Planar case: F = 3(4 − 1) − (2 + 2 + 2 + 2 + 2) = −1 This
number is apparently wrong. Is it? Actually it is not, as the
formula does not consider the colinearity of E and D joint
which shall model just one prismatic joint.
The corrected planar case:
F = 3(4 − 1) − (2 + 2 + 2 + 2) = 1
ROBOTICS: Vladimír Smutný
10/21
ci number of constraints imposed by joint i,
fi number of DOF permitted by joint i,
n number of links in the mechanism (mechanism has
one link fixed),
j number of joints in the mechanism (all shall be bi-
nary),
λ number of DOF of the single rigid body in ambient
space,
F number of DOF of the whole mechanism.
j
X
F = λ(n − j − 1) + fi,
i=1
alternatively
j
X
F = λ(n − 1) − ci.
i=1
Spatial case (considering colinearity of D and E):
F = 6(4 − 1) − (5 + 5 + 5 + 5) = −2
Again unexpected result, but where is the mistake this time?
Think about it before reading the solution.
The problem is that correct function of transom mecha-
nism assumes parallelity of A, B, and C joint axes. We should
model (and manufacture) them as having more freedom.
Case D, E being cylindrical and colinear, B spherical:
F = 6(4 − 1) − (5 + 3 + 5 + 4) = 1
Case B, C being spherical:
F = 6(4 − 1) − (5 + 3 + 3 + 5) = 2
This means the link bar 2 could freely rotate around axis
passing through B and C.
Case A cylindrical, B spherical:
F = 6(4 − 1) − (4 + 3 + 5 + 5) = 1
Another practical solution is to make B and C as well as D
and E slightly flexible, so minor nonparallelity of joints arran-
gement could be absorbed. It is cheap, but the mechanism is
not nicely sliding. Another, rather expensive, solution is to
make individual parts adjustable, so during the instalation,
the best position is found and fixed.
Slide 10, Page 10
 Typical structure of manipulators – Cartezian – PPP

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The body in the space has 6 DOF. The robot shall have
at least 6 DOF to allow (even in limited space) any position
and orientation of the body. The general manipulators have 6
DOF satisfying this condition, more degrees of freedom me-
ans more expensive both in HW and in control algorithms
and lower stifness as well.
The joints which shall be measured and controlled are
mostly prismatic or revolute as the joints with more degrees
of freedom are difficult to build. On the other hand the joint
which need not be measured and controlled can easily be sphe-
rical or cylindrical, as this does not present technical problem.
Serial manipulator shall of course have all joints measured
and controlled (Why??).
Serial manipulator with 6 DOF consisting of prismatic
and revolute joints shall have at least three DOF with re-
volute joints, allowing arbitrary orientation of the manipula-
ted body/accesory. Could you explain why manipulator with
6 prismatic joints cannot orient the body arbitrarily? Typi-
cally three first joints (counting from the base), determine the
shape and properties of working envelope. This gives rise to
the classification of the robot structure according the type of
the joints. The list presented is neither exhausting all mathe-
matical combinations nor all structures used in real life. The
letters denote the order of the joints, e.g. RPP is revolute-
prismatic-prismatic, that is cylindrical robot.

ROBOTICS: Vladimír Smutný Slide 11, Page 11

 Typical structure of manipulators – Cylindrical – RPP

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ROBOTICS: Vladimír Smutný Slide 12, Page 12

 Typical structure of manipulators – Spherical – RRP

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ROBOTICS: Vladimír Smutný Slide 13, Page 13

 Typical structure of manipulators – Angular – RRR

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Angular robot has large working space compare to di- mensions.

ROBOTICS: Vladimír Smutný Slide 14, Page 14

 Typical structure of manipulators – cranes RRP and RRPP

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ROBOTICS: Vladimír Smutný Slide 15, Page 15

 Typical structure of manipulators – SCARA – RRRP

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Animations taken from Masud Salimian’s web page 18
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Scara is particularly suited for operations above horizon- gravity.

tal plane, where three vertical axes does not work against

ROBOTICS: Vladimír Smutný Slide 16, Page 16

 Typical structure of manipulators – Stewart platform

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ROBOTICS: Vladimír Smutný Slide 17, Page 17

 Extending the robot reach – Angular robot on gantry

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Systems with more degrees of freedom are used mainly for
two reasons:
• Increasing the volume of work envelope. Robot moun-
ted (usually hanged) on one or two gantry axes could
operate much larger space.
• Getting access to confined areas. Robot with 6 DOF
could position rigid body or tool anywhere in the space.
5 DOF are enough for positioning of the rotationally sy-
mmetrical welding head. Welds are often hidden in con-
fined places where all solutions of inverse kinematics
are colliding with the product. One or two additional
rotation axes positioning the product are often used to
allow one or more robots mounted on the floor to access
whole welding trajectory.

ROBOTICS: Vladimír Smutný Slide 18, Page 18

 Extending the robot reach – Angular robots, product on turn table

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ROBOTICS: Vladimír Smutný Slide 20, Page 19

 Extending the robot reach – Angular robot, product on turn table

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ROBOTICS: Vladimír Smutný Slide 21, Page 20