Robot Anatomy: Robot anatomy concerns with the physical construction and characteristics of the body, arm, wrist which are components of the robot manipulator. Most robots are mounted on a base. The body is attached to the base and the arm assembly to the body. At the end of arm there is a wrist & consists of various joints which provides sliding and rotation motion. End effectors are attached to the wrist that performs the work.
Sketch/Figure:
Robot Structure:
It consist of
1.Arm: The arm is the part of the robot that positions the end effectors and sensors to do their pre-programmed task.
2. End-effectors: It is designed to perform the task like grasping, transporting, lifting etc. It also is used to perform operations on work piece.
3. Actuator: An actuator is a device that produces translatory or rotary movement of the links or makes the freedom possible. These are the drives for the manipulator, which connects the controller with manipulator.
4. Sensors: They perform two major tasks. One is to collect information about the different links, arms with their status and other one is to inform controller about outside environment.
5. Controller: Controller coordinates the movement of the arm. The controller receives the input data from the computer, controls the actuator motion and takes the feedback information through various sensors.
6. Drive: The drive is the motor that moves the links into their designated position.