Section 02 · 5 entries
Six Axes
What each joint contributes, and why six.
5 entries
In reading order- 01Why sixThree to place a point anywhere in reach, three more to arrive at any angle. Fewer and orientation is constrained; more and the solution stops being unique.
- 02The shoulder carriesThe first three joints do the lifting; everything outboard is about attitude.
- 03The wristThree axes crossing near a point, and the compactness that makes it possible.
- 04Gear and backlashWhere lost motion enters, and why the reduction ratio is so extreme.
- 05BrakesWhat holds the arm up when the power goes off.