Figure 4.2. Base support stand of the robot.


potentiometer. Motion of the outer link was mechanically limited by two chains to

approximately 39 degrees in either direction from vertical. These chains were connected

between the lower member of the outer link and the cross member of the supporting structure.

 The inner link (Figure 4.4) was constructed in two pieces and mounted inside of the outer

link in much the same way as the outer link was mounted to the support. This inner link was

also constructed of rectangular steel with reinforcements at the covers for added rigidity.

Solid steel cylindrical mounting shafts were fastened to the top and bottom of the link allowing

the inner link to rotate about the vertical axis of the outer link, Z1. This link was actuated by a

rotary actuator mounted to the bottom of the outer link and connected to the bottom shaft of the

inner link. The motion of this link was measured by the joint variable 82. Coordinate frame 2