As shown in
ARMazing, Mentor Arm has an
articulated arm with joints similar to that of human arm, and each of the axis is driven by a 12V DC servo motor with its position monitored by a potentiometer.
| Axis | Angular Movement (degrees) | Axle Centre Length(mm) |
| Axis 0 (wrist) | 210 | 185 |
| Axis 1 (Shoulder) | 180 | 165 |
| Axis 2 (Elbow) | 230 | 150 |
| Axis 3 (Left Wrist Axle) | 320 | 0 |
| Axis 4 (Right Wrist Axle) | 320 | 0 |
| Wrist Pitch | 140 | |
| Wrist Roll | 320 | |
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mentor arm kinematic structure
http://www.anf.nildram.co.uk/beebcontrol/arms/mentor/index.html
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So the mentor Arm has 6 degrees of freedom. In the next post we will discuss about controlling the arm.
This robot has 5 degrees of freedom.
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