Robotics lll

UNIT 3
PAG. 5
[Two IK chains sharing one common joint and corresponding model of the IK
solving task]
A more difficult case appears when two or more kinematic chains share common joints. In that case
sequential solving doesn't work most of the time (in following example, the two IK elements tend to rotate the
common joint into opposite directions) and a simultaneous solving method is needed. To simultaneously solve
several IK elements, just group them into one common IK group. This case is illustrated in following figure:
Conveyor belt
A conveyor belt or belt
conveyor is a continuous
transport system
consisting of a continuous
belt moving between two
drums. Generally, the belt
is dragged by the friction
of its pulleys, which in turn
is driven by its motor.
Their use and
maintenance
is
economical as long as an
efficient installation is
carried out and the right
conveyor belt is chosen for
the industrial activity in
which it is applied. With
their design,
these automated conveyor
belts can fit virtually
anywhere, making them an
ideal choice for
standardizing complete
installations.
DESIGN COMPLICATIONS
Problems range from a
lack of sufficient space for
the conveyor within the
plant, to poor design and
materials used in its
manufacture. To choose
which conveyor belt is the
most suitable we have to
take into account the
product, speed and
process for which it will be
used.
Salvador SLIDESMANIA.COM
Pintor Castillo