Available online
Description
jn e programme looks at kinematic systems which involve movement. It examines in particular a manipulator robot (PUMA). The programme contains several demonstrations of this machine.
jn e programme looks at kinematic systems which involve movement. It examines in particular a manipulator robot (PUMA). The programme contains several demonstrations of this machine.
| Module code and title: | TM361, "Graphs, networks and design" |
|---|---|
| Item code: | TM361; 10 |
| First transmission date: | 22-07-1981 |
| Published: | 1981 |
| Rights Statement: | |
| Restrictions on use: | |
| Duration: | 00:24:30 |
| + Show more... | |
| Producer: | John Stratford |
| Contributors: | Joe Rooney; Richard Scott |
| Publisher: | BBC Open University |
| Keyword(s): | Kinematic system; Manipulator; Robot |
| Footage description: | Film shots of the manipulator robot PUMA opening a bottle and pouring the contents into a glass. Shots of several other kinematic systems - umbrella, folding push chair, steam engine,robot welder, robot spray painter and an iron bridge. Commentary by Joe Rooney introduces the programme. Richard Scott looks over the PUMA and explains that kinematic structures involve two fundamental types of components, links and joints. He points these out on the PUMA and on an old steam winding engine. Scott goes on to look at six types of joints found in kinematic systems. He uses models of joints to illustrate his commentary. Six types of joints are identified - prismatic, revolute, screw, cylindric, spherical and planar pairs. Scott points our the degrees of freedom found in each pair. Joe Rooney identifies the types of joints found in PUMA (all revolute) and explains how the six pairs in the robot solve the manipulation problem. Shots of PUMA while he talks. Rooney points out that each joint contributes one degree of freedom to the system. Another manipulator robot is looked at by Richard Scott. This one contains prismatic as well as revolute pairs of joints. Joe Rooney goes on to explain how one can determine the number of degrees of freedom of any system if the numbers and types of joints are known. He uses peg and ball models to illustrate his points. Looking at a model with the same kinematic structures as PUMA but with the ends linked together into a seventh joint he shows that in this case five degrees of freedom are lost. Rooney examines a special type of system in which all the revolute axes are parallel. His example again has the same kinematic structure as PUMA but has only three degrees of freedom. Richard Scott looks at the degree of flexibility found in real systems. This, he explains, is a function of the geometry. He demonstrates this with a ball and stick model of a kinematic system. Joe Rooney and Richard Scott go on to look at flexibility in the PUMA system. The robot is made to go to the same position and orientation through several different configurations. Shots of PUMA pouring a drink again. |
| Production number: | FOUT088A |
| Videofinder number: | 1531 |
| Available to public: | no |
