PHIL LOMBOY
Components of a robot
Communicator A unit transmitting information and receiving instructions from a remote operator
Components of a robot
Control Computer/Controller (Brain) The central computer that integrates the activity of several microprocessors brain of the robot
Components of a robot
End Effectors (Hands) Device at the end of the manipulator arm that performs the actual work. Gripper, hooks, scoops
Components of a robot
Manipulator (Arm) Mechanism consisting of several segment or arms which provides the necessary motion to move the tool or part into proper position.
Components of a robot
Power Supply Generally some energy storage device such as battery for a mobile unit otherwise hook up to the power grid.
Components of a robot
Sensor (Eye) Usually a transducer of some kind whose inputs are physical phenomena and whose outputs consists of electronic signals.
Components of a robot
Robots Drive Systems/Actuators
Pneumatic Drive Reserved for smaller robots which are limited to simple, fast cycle and pick and place operation. Have two to four degrees of freedom Quick response Lower initial and operating cost than a hydraulic system Accurate positioning and velocity control are impossible (requires mechanical stops) Weak force capability
Robots Drive Systems/Actuators
Hydraulic Drive Used in larger robots Generally heavy and require large floor space and heavy floor loadings Great force capability Great holding strength when stopped (will not sag) Intrinsic safe in flammable environments such as paintings Accurate servo type positioning and velocity control can be achieved Messy-tends to leak oil even in the periods when the robot is not in motion High initial and operating costs
Robots Drive Systems/Actuators
Electric Drive Good for robots in light duty, precision applications but does not offer the speed and strength of a hydraulic drive. Used in electronic assembly where precision is required Clean-no oil leaks Lower initial and operating cost compared as compared to hydraulic and pneumatic drive Less force capability as compared to hydraulic system
Degrees of Freedom
Refers to different axes of motion of robotic arm The movement about one axis is hardware independent of movement about any other axis.
Degrees of Freedom
Total number of locations
P = 2 exp n
where: P number of possible locations n degrees of freedom
Degrees of Freedom
Waist motion or Arm sweep
Motion of the entire arm about the fixed base
Shoulder or Vertical Motion
Movement above the waist
Degrees of Freedom
Elbow extension
Wrist Motion
Pitch up and down Yaw side to side Roll - \rotation of the wrist about the axis of the forearm
Robots Wrist Rotation
Pitch Axis Describes the wrists rotational movement up and down
Robots Wrist Rotation
Yaw Axis Describes the wrist angular movement from the left side to the right side.
Robots Wrist Rotation
Roll Axis Describes the rotation around the end of the wrist.
Robots Axes Control
Non-Servo Control Movement of the robots axes is stopped by a hard mechanical stop placed in the travel path Non-self correcting and not-self regulating
Robots Axes Control
Servo Control The servo control allows the mechanics of the robot to communicate with the electronics of the controller Equipped with the feedback sensors so that the controllers knows the exact position of the end effector at all times Self correcting and self regulating
CLASSIFICATION OF ROBOTS
According to Control Fixed/Variable Sequence
Pick and place robots Point to point movement
CLASSIFICATION OF ROBOTS
According to Control Playback Robot
Robots that memorizes and records the path and sequence of motions and can repeat them continuously without the guidance from the operator.
CLASSIFICATION OF ROBOTS
According to Control Numerically Controlled Robot
Programmed and operated much like a numerically controlled machine. Numerically Controlled Robot Servo-controlled by digital data
CLASSIFICATION OF ROBOTS
According to Control Intelligent (Sensory) Robot
Equipped with a variety of sensors with visual and tactile capabilities. Controlled by powerful computers
Robots Manipulator Arm Geometry
Work Envelope refers to the space with which the robot can use its wrist.
Robots Manipulator Arm Geometry
Cartesian Coordinates uses three perpendicular slides to construct the X,Y and the Z axes Rectangular work space or work envelope.
Robots Manipulator Arm Geometry
Cylindrical Coordinates Cylindrical configurations uses a vertical column and a slide that moves up and down the column The work space is approximately a cylinder
Robots Manipulator Arm Geometry
Polar Coordinates Uses a telescoping arm that can be lowered or raised about a horizontal pivot which is mounted on a rotating base.
Robots Manipulator Arm Geometry
Articulate Coordinates This configuration consists of two straight components mounted on a vertical pedestal. A rotary joint connects one of the straight components to the pedestal while another joins the straight components. A wrist is attached to the end of the straight component and provides several additional joints.
CLASSIFICATION OF ROBOTS
According to Movement Rectilinear / Cartesian
Works with Cartesian manipulator arm geometry Movement is three directions only up/down, left/right, front/back.
CLASSIFICATION OF ROBOTS
According to Movement Cylindrical Robot
Robot whose work envelope is cylindrical Robots arm swings around its base in circular or polar motion. (up and down, front end)
CLASSIFICATION OF ROBOTS
According to Movement Spherical Robot
Robot whose work envelope is spherical in shape and obviously is has spherical manipulator arm geometry. With polar articulation for waist and shoulder and rectilinear motion for reach. The base moves in circular motion (up to 210 degrees) while its main arm moves up and down and in and out (extension and retraction)
CLASSIFICATION OF ROBOTS
According to Movement Spherical Robot
CLASSIFICATION OF ROBOTS
According to Movement Fully Articulated Robot
CLASSIFICATION OF ROBOTS
According to Movement Fully Articulated Robot
Robot with polar articulation for all degrees of movement One example is the SCARA (Selective Compliance Assembly Robotic Arm) which has six axes therefore increases its degrees of freedom. Used in welding, painting, laser cutting and water jet cutting.
CLASSIFICATION OF ROBOTS
According To Program Used Positive Stop
Produces only 2 position motion Limited sequence or Bang bang motion
CLASSIFICATION OF ROBOTS
According To Program Used Point to Point
Ability to move a robot axis to any position within its range
CLASSIFICATION OF ROBOTS
According To Program Used Continuous Path
Like point to point Destination points are very closed together.
SELECTION OF ROBOTS
Work Volume Speed and acceleration Repeatability Resolution Accuracy Economics Safety
MODERN USES OF ROBOTS
Exploration
Full of danger or deep ocean
Industry
Repetitive Work
Medicine
Operation (making medicines)
Military and Police
Bomb disposal, spying, entering enemy bases
Entertainment
SCARA ROBOT
Selective Compliant Articulated Robot Arm Assembly
4-axis robot with rotating elements that move in a single plane. Similar to a shoulder-elbow-wrist combination movement with the addition of an up-down component
SCARA ROBOT
Selective Compliant Assembly Robot Arm Applications
Assembly Packaging Sorting Screw driving
QUESTIONS
111. A user-program that has the ability to move a robot axis to any position within its range [Link]-to-place [Link]-to-point [Link] stop [Link] stop
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112. It is a robot which is capable of decision making and has memory [Link] and place manipulator [Link] V [Link] Robot [Link]
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[Link] total weight that a robot arm can carry [Link] Capacity [Link] [Link] [Link]
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114. It is considered as the robots hand [Link] Knuckle [Link] [Link] Effector [Link]
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115. One advantage of hydraulic actuator type of an industrial robot is_____ [Link] safe in flammable environment such as painting [Link] no oil leaks [Link] Operating Cost [Link] Initial Cost
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116. The ______ are two of the most common mechanical configurations of industrial robots [Link] and pneumatic [Link] arm and cylindrical [Link] and hydraulic [Link]-arm and electric
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117. _____includes two of the actuator types used in industrial robots [Link] and Jointed-arm [Link] and Pneumatic [Link] and Spherical [Link] and Cylindrical
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118. What is the reason why pneumatic robot actuators have lesser capabilities than electric or hydraulic robot actuators? [Link] has quick response [Link] always has all or nothing motion [Link] has low initial cost [Link] has high initial cost
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119. It is considered as the robots eye [Link] Knuckle [Link] [Link] Effector [Link]
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120. It is considered as the Robots brain [Link] Knuckle [Link] [Link] Effector [Link]
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121. A movement of the wrist of the robot pivoting around the vertical axis running from top to bottom [Link] [Link] [Link] [Link]
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122. A robot that has the approximate appearance of a human being [Link] [Link] [Link] [Link]
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123. A short term meaning a human being with artificial limbs or organs [Link] [Link] [Link] [Link]
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124. The operational basis for a machine, computer or mechanism to perform some function normally associated with human intelligence [Link] [Link] Intelligence [Link] [Link]
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125. A robot that performs tasks in the home [Link] robot [Link] [Link] robot [Link] robot
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126. A program written by Joseph Weizenbaun to meet Turings definition of artificial intelligence [Link] [Link] [Link] [Link]
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127. The desirable characteristic for handling the robots are [Link] pay load capacity [Link] work space/robot size ration [Link] point to point control [Link] of the above
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128. SCARA robots are specifically designed for _________ operations [Link] [Link] [Link] [Link]
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129. Robot classification is usually based on [Link] manipulating anatomy [Link] controller design [Link] suitable for production tasks [Link] of the above
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130. Which of the following country maintains the highest ratio of robot worker to human worker? [Link] [Link] [Link] [Link]
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131. A modern industrial robot is _______ multi-functional [Link]-controlled [Link] [Link] great degree of freedom [Link] of the above
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132. Any solid object has a maximum ______ degrees of freedom A.3 B.4 C.5 D.6
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133. Programming of a continuous path robot is normally carried out by a method called _____ through [Link] [Link] [Link] [Link]
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134. The Essential features of a non-servo controlled robot is that [Link] requires programming logic controller [Link] of its axis can move only between hardware stops [Link] is small [Link] is used for heavy loads
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135. The word Robot was coined by [Link] [Link] Capek [Link] Walter Kenward [Link] Lomboy
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136. ________ robot is primarily used for machining processes [Link] T3 [Link] PRAMA [Link] One [Link] 80
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137. Serves as the muscle of the system, produces the motion with power supplied electrically, pneumatically or hydraulically. [Link] [Link] Computer [Link] [Link]
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138. The arm assembly of the robot [Link] effector [Link] [Link] [Link]
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139. __________is a device connected to the wrists flange of the manipulators arm. It is used in many different situations in the production area [Link] effector [Link] [Link] [Link]
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140. Refers to the movement of the base of the robot [Link] [Link] [Link] [Link]
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141. What is the other name for the axes found on the manipulator? [Link] [Link] time [Link] of freedom [Link]
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142. Describes the wrists angular movement from the left side to the right side [Link] [Link] [Link] [Link]
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143. It is a high level computer language developed by Robotronic Corporation to make commanding a personal robot easier. [Link] [Link] [Link] [Link]
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144. It is considered as the Robots brain [Link] knuckle [Link] [Link] effector [Link]
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145. This is used to program and teach positional information for the manipulator [Link] panel [Link] control [Link] data input panel [Link] pendant
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146. It is a robot software that produces only two position motion [Link] and stop programs [Link] to point programs [Link] path program [Link] stop programs
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147. A user program that has ability to move a robot axis to any position within its range [Link] and place [Link] to point [Link] stop [Link] path
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148. What are the basic categories of industrial robot? [Link] and slow [Link] and electrical [Link] and decepticons [Link] and place manipulator and intelligent robot
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149. It is a robot which is capable of decision making and has memory [Link] and place [Link] robot [Link] robot [Link] robot
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150. It is a robot structure wherein the body can pivot vertically and horizontally and the arm moves radially [Link] structure [Link] [Link] structure [Link]
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151. The total weight that a robot arm can carry [Link] capacity [Link] [Link] [Link]
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152. Which is not the usual power source that steers the arm of the robot? [Link] [Link] [Link] [Link]
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152. The ______ are two of the most common mechanical configurations of industrial robots [Link] and pneumatic [Link] arm and cylindrical [Link] and hydraulic [Link]-arm and electric
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153. A system in which the precise movement of a large load is controlled by a relatively weak signal [Link] [Link] [Link] [Link]
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154. A limited robot sequence is______ [Link] and place [Link] to point [Link] path [Link]
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155. The first patent for an industrial robot was developed in 1954 by______ [Link] [Link] [Link] [Link]
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156. The operational space of a robot is _____ [Link] system [Link] zone [Link] of freedom [Link] envelope
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157. The individual sections of the robot arm between the joints are____ [Link] [Link] [Link] [Link]
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158. The control system for spot welding is A..Point to point [Link] and place [Link] path [Link] to multi-point
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159. __________ is a type of actuator of industrial robots that has great force capability and great holding strength when stopped [Link] [Link] [Link] [Link]
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160. ________ a professor at MIT publishes cybernetics, a book which describes the concept of communications and control in electronic, mechanical and biological systems. [Link] Polard [Link] Babbit [Link] Mauchly [Link] Wiener
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161. Stanford Research Institute (SRI) built and tested a mobile robot with vision capability is called ____ [Link] [Link] Automation [Link] [Link]
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162. Riochard Hohn for Cincinnati Milacron Corporation develops the first commercially available minicomputer controlled industrial robot. The robot is called the ______the Tomorrow Tool A.T3 [Link] Automation [Link] [Link]
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163. Joseph Engelberger starts Transition Robotics, later named ______ to develop service robots. [Link] [Link] [Link] [Link]
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164. The ability of a robot to produce meaningful speech output [Link] Synthesis [Link] Detection [Link] Refinement [Link] Recognition
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165. The length of time in years required for a robot to pay for itself through the savings it provides [Link] period [Link] period [Link] period [Link] period
THE END
HAPPY REVIEW!!
By:Mark Jolly R. Omadto
