Abstract:
Robot manipulators consist of three main parts: mechanical,
electrical, and control. In the mechanical point of view, robot
manipulators are collection of serial or parallel links which have
connected by revolute and/or prismatic joints between base and
end-effecter frame. The robot manipulators electrical parts are used
to run the controllers, actuators for links motion and sensors, which
including the following subparts: power supply to supply the
electrical and control parts, power amplifier to amplify the signal and
driving the actuators, DC/stepper/servo motors or
hydraulic/pneumatic cylinders to move the links,
