CHAPTER 9
 APPLICATION EXAMPLES



Example 1: The PUMA 560


 A popular orthogonal manipulator geometry, the PUMA 560, is described by the kinematic parameters given in Table 9-1 and illustrated in Figure 9.1. This manipulator has a spherical wrist and therefore allows closed-form solutions (Pieper 1968). Inverse kinematic solutions have been

proposed by numerous authors for this type of arm (Lee and Ziegler 1984; Craig 1986; Paul and Zhang 1986).


Table 9-1. PUMA 560 kinematic parameters

 Joint d G) a a (rd)


e3

94


85.


7r/ 2

0

fr/ 2 7r/ 2 7r/72

0


 This example is utility of the approach


included here to demonstrate the already outlined and to contrast it

..