By Kokileswar Bhattacharyya
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Extra resources for An Introduction to Adwaita Philosophy
Another important application is concerned with the servicing of machines such as presses, injection-moulding machines, die-casting machines, machine tools, etc. The first three of these involve particularly unpleasant tasks for the human operator, and this is a major reason for the introduction of robots. Die-casting, for example, is hot and dangerous. In many die-casting shops the dies are automatically lubricated and ladled with molten aluminium or zinc. Industrial robots are now being used to unload the casting, to dip it into a quenching tank and then to place it into a trimming press-all extremely unpleasant tasks for a human operator.
Configurations (d), (e) and (f) are also logically related. Linkage (d) is obtained from (a) by replacing an R pair in (a) by a P pair. The input in this case is a translation S. When the dyad is removed from (e) we are left with another elementary open linkage with one degree of freedom. This time, unlike (c), the freedom is a translatory one, and the end-effector moves in a straight line. Robot mechanisms with M = 2 A robot with only one degree of freedom would be seriously restricted: let us move on to look at mechanisms with M = 2.
Analogous to the freedoms of a pair, mobility is defined as the number of independent variables which must be specified in order to locate all the members of the mechanism relative to one another (Hunt, 1978). e. if anyone angle between the constituent links is known or fixed, then all other angles will be known or fixed. 30 Robotics: an introduction This technique, known as number synthesis, allows us to determine the mobility of most mechanisms (there are some special cases that require care).