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Robotics Technician > Chapter 2 - Robot Classifications > Flashcards

Chapter 2 - Robot Classifications Flashcards

1
Q

How are robots classified?

A

Generally by motion. But depending on the programmers focus they can be classified by control systems, drives, degree of autonomy and use case

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2
Q

What are the types of movement?

A

Pick and place, point to point and continuous path.

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3
Q

What are the three main subsystems of a robot?

A

Kinematics - Manipulator
Control Systems - Controller
Drive Systems - Power Supply

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4
Q

What is kinematics?

A

Describes the spatial arrangement of the axes of movement in relation to one another

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5
Q

What are the 4 basic classifications of movement?

A

Cartesian, Cylindrical, Spherical and Jointed-Arm.

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6
Q

What is the gross work envelope?

A

It basically describes how far the robot can reach with its wrist. The area that can be reach is the robots work envelope.

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7
Q

What are the major axes?

A

The first three joints of a robot, this determines the position of the wrist.

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8
Q

What are the minor axes?

A

The remaining joints are the first three, they determine the orientation of the tool.

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9
Q

What is a revolute joint?

A

Most common type of joint in industrial robotics. Exhibits rotary motion about an axis. Generally, the more revolute joints, the more complex the arm.

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10
Q

What is rotary motion?

A

Turning around in a circle ex: wheel turning (angular)

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11
Q

What is a prismatic joint?

A

Second most common type of joint. Exhibits sliding or linear motion along an axis.

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12
Q

What is linear motion?

A

Moving in a straight line ex: paper trimmer

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13
Q

What is lateral motion?

A

X-axis, side to side motion ex: a robots base

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14
Q

What is longitudinal motion?

A

Y-axis, parallel to the axis, relating to length ex: robot arm moving forwards and backwards to the workspace

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15
Q

What is vertical motion?

A

Z-axis, references the depth, similar to horizontal except it is not constant and is effected by gravity. Ex: robot column moving up and down.

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16
Q

What is a Cartesian coordinate robot?

A

Robot consisting of a base, column and arm. It has 3 prismatic joints. The base (x-axis) moves from side to side. The column (z-axis) moves up and down. The arm (y-axis) moves forwards and backwards (to and from) the work area. Use case: arc welding.

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17
Q

What is a Cylindrical coordinate robot?

A

Has 1 revolute and 2 prismatic joints. The base (x-axis) is stationary. The column (z-axis) rotates. The arm (y-axis) moves up and down the column and can extend in and out towards the work area. Use cases: Assembly, handling machine tools

18
Q

What is a Spherical coordinate robot?

A

Has 2 revolute joints and 1 prismatic. The base (x-axis) is stationary. The column (z-axis) is thick like a hose and can telescope and boom, allowing it to bend forwards/backwards, and giving it an elevation pivot. The arm (y-axis) extends forwards/backwards towards the work area. Use case: spot welding

19
Q

What is a Jointed-Arm coordinate robot?

A

Has 3 revolute joints. Resembles the human arm. Mounted on a rotating base (x-axis), articulating at a joint just above the base called the shoulder. Also contains wrist and elbow joints. Use cases: painting and welding.

20
Q

What is a controller?

A

A device that completes the control loop by accepting the feedback signal from input devices and then generating as an output, the control signal required for the output device to perform its function.

21
Q

What are the two main sections of the controller?

A

Measurement and control

22
Q

What is the function of the measurement section?

A

To measure the value of the incoming signal from a sensor (ex. transducer) and compares it with the value of the set point signal.

23
Q

What is the function of the control section?

A

Acts upon an error between the two signals (incoming and set-point) by sending an output signal to the final control element, which acts to eliminate the error.

24
Q

What is a multi-controller (hybrid-control) system?

A

A system where the kinematic and robot program functions are controlled by separate microprocessors that communicate via Ethernet.

25
What is a servo-control system?
A robot driven by a servomechanism, in which feedback positional data is compared to command data. Involves the use of feedback devices and microprocessors.
26
What is a non-servo control system?
One that does not require feedback devices or a microprocessor.
27
What is a pick and place robot?
Has a limited degree of mobility, and little to no trajectory control. Functions to transfer objects from one place to another. Non-servo control system, used in applications involving high repetition. Ex: bang-bang control applies on or off outputs to attempt to maintain control ex: thermostat
28
What is point to point control?
Uses a servo system that records where a robot picks up a part and where it drops it off. Once the points are recorded, it calculates the most efficient path to take between the points. Used in loading and unloading applications, where the path between the end points aren’t important. Robot cannot stop at arbitrary points not previously designated.
29
What is a teach pendant?
Used to program a robot to move from one point to another.
30
What is Continuous-Path control?
Uses a trajectory tracking system to follow an irregular path with a high degree of accuracy. Can stop at arbitrary points along a path Used in painting and welding applications If the speed of each joint can be controlled independently, than the robot manipulator it capable of CP control.
31
Types of drive systems?
Electric, hydraulic and pneumatic
32
Characteristics of electric drive systems?
Uses DC servomotors, DC brushless motors, DC stepper motors. Brushless dc motors are cleaner, require little maintenance and are used in painting and solvent applications that pose fire hazards due to its brushless arcing. However the require separate transmission mechanisms, adding weight, cost and loss of precision.
33
Characteristics of hydraulic drive systems?
Preferred in applications requiring high speed manipulation of heavy loads. Have more speed and strength but require more floor space and are messier.
34
Characteristics of pneumatic drive systems?
Non-servo controlled. Used for limited sequence robots, like pick and place, where speed and precision aren’t essential. The air flow is usually controlled by solenoid valves. Considered safe, used in explosive atmospheres Only good for lighter loads, heavy loads require large amounts of air. End effectors of all drive types are usually pneumatic, makes gripping more delicate
35
What is the TCP?
The tool center point is the tip of an end effector. Programmers use its coordinates in space (x,y,z) to program the tool to perform a function. Ex. Welding.
36
Types of line tracking robots?
Moving-base line tracking (MBLT): robot mounted on a transport that moves parallel to the line at line speed. Stationary-base line tracking (SBLT): robot is fixed relative to the line. Allowing it to work at the front, middle and rear of a moving part, allowing it to access areas not possible with a stationary part.
37
What is the tracking window?
Defines in memory, the two limits in the tracking direction beyond which the robot will not attempt to reach. Abort branches occur when the robot coordinates coincide with the limits of the tracking window. Utility branches occur when there is a malfunction in peripheral equipment.
38
Brush vs Brushless motors?
Brush motors makes rubbing contact with a rotating commutator to conduct current to and from an outside circuit. Brushless motors use an electronic commutator instead.
39
What is Roll?
The circular motion of an axis
40
What is Yaw?
The angular displacement of a moving body about an axis perpendicular to the line of motion and to the top side of the body
41
What is Pitch?
The up and down motion at an axis

Robotics Technician (5 decks)

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