Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 30

The cylindrical manipulator is shown in Figure 1.15. The first joint is revolute and produces a rotation about the base, while the second and third joints are prismatic. As the name suggests, the joint variables are the cylindrical coordinates of the end effector with respect to the base.

Figure 1.15 The ST Robotics R19 cylindrical robot (left) and the symbolic representation showing a portion of its workspace (right). Cylindrical robots are often used in materials transfer tasks. (Photo courtesy of ST Robotics.)