Robotics

Question 1

What is a robot?

Answer 1

A mechanism with a degree of autonomy

Question 2

Why is it good to have robots? [4] {BADH}

Answer 2

Boring things
Artificial limbs
Dangerous Environments
High Precision/Speed

Question 3

What is Depiction related to robotics

Answer 3

making sure people don’t get attached to robots

Question 4

What in Employment related to robotics

Answer 4

make sure robots don’t take disprotional amount of jobs from some people

Question 5

What is privacy in relation to robotics ethics

Answer 5

how do you keep people information private

Question 6

What is safety in proportion to robotics

Answer 6

Make sure they are designed properly in order not to harm people

Question 7

What is a revolute joint

Answer 7

rotational

Question 8

What is a prismatic joint

Answer 8

translational

Question 9

What is a spherical joint?

Answer 9

Rotate in all axis

Question 10

What is a screw joint

Answer 10

translational and rotational in one axis

Question 11

mechanical structure- Wrist

Answer 11

At the end of the arm- rotational

Question 12

Mechanical Structure- End effector

Answer 12

Attached to wrist, specific to perform task

Question 13

What is degrees of freedom

Answer 13

Equal to number of joints- robots freedom of motion in 3D space

Question 14

Why would be want more degrees of freedom then exist (redundant manipulator)

Answer 14

Can perform tasks with high dexterity- avoid obstacles

Question 15

What is Number of axes

Answer 15

Kind of the same as number of joints

Question 16

What is workspace?

Answer 16

Volume that the end effector can reach, showed in dimensions

Question 17

What is def robots payload

Answer 17

Weight robot can carry fully outstretched

Question 18

What is Reach?

Answer 18

The maximum distance a robot can reach (horizontal/vertical)

Question 19

What are the 3 things that define precision? RAR

Answer 19

Resolution, Accuracy and Repeatability

Question 20

What is resolution

Answer 20

the minimum motion increment that the robot can perform

Question 21

What is accuracy

Answer 21

how close the manipulator can come to a given point within in the workspace

Question 22

Does accuracy vary accross the workspace

Answer 22

yes

Question 23

What is repeatability

Answer 23

how accurately the robot can reach the same position when the motion is repeated

Question 24

What is the difference between an open loop chain and a closed loop chain

Answer 24

in a closed loop chain every link is connected to at least 2 other links
open loop each link is connected to only one another link

Question 25

other name for open loop

Answer 25

serial

Question 26

other name for closed loop

Answer 26

parralel

Question 27

Which KC (kinematic chain) has a higher payload

Answer 27

Open loop

Question 28

Which KC has more degrees of freedom

Answer 28

open loop

Question 29

Which KC has a bigger workspace

Answer 29

open loop

Question 30

which kc has faster movements

Answer 30

closed loop

Question 31

Which kc has better accuracy

Answer 31

closed loop

Question 32

Cartesian robot arm configeration

Answer 32

PPP

Question 33

Cartesian robot arm workspace

Answer 33

3d rectangle

Question 34

Cartesian Robot attractive qualties

Answer 34

accuracy handling heavy loads

Question 35

Cylindrical robot arm configuration

Answer 35

Rpp

Question 36

Cylindrical robot arm workspace

Answer 36

ipad question1

Question 37

Cylindercal robot arm sketch

Answer 37

ipad question 3

Question 38

Cartesian robot sketch

Answer 38

ipad question 2

Question 39

Spherical Robot arm configeration

Answer 39

RRP

Question 40

Spherical robot arm sketch

Answer 40

ipad question 4

Question 41

Spherical robot arm workspace

Answer 41

IPAD QUESTION 5

Question 42

Scara robot arm configeration

Answer 42

RRP

Question 43

Scara robot arm sketch

Answer 43

ipad question 6

Question 44

Scara robot arm workspace

Answer 44

ipad question 7

Question 45

Articulated robot arm configeration

Answer 45

RRR

Question 46

Articulated robot arm skech

Answer 46

ipad question 8

Question 47

Articulated robot arm workspace

Answer 47

ipad question 9

Question 48

What does kinematic modelling consider

Answer 48

position acceleration velocity

Question 49

what does Dynamic modelling consider

Answer 49

forces and torques

Question 50

What is forward kinematics

Answer 50

chose joints find out end

Question 51

what is inverse kinematics

Answer 51

choose end position calculate joints

Question 52

What is differential kinematics

Answer 52

joint velocities to end effector velocities

Question 53

What is the one frame which doesn't depend on robot

Answer 53

world frame

Question 54

What hand co ordinate system is used

Answer 54

right hand

Question 55

Rotation about fixed frame what order do they go in

Answer 55

reverse

Question 56

Rotations about moving current frame what order do they go in

Answer 56

Normal

Question 57

Why is SCARA better then spherical robot arm for pick and place?

Answer 57

More stability in vertical plane and can move faster

Question 58

What is a singularity

Answer 58

When a degree of freedom as lost and small speeds might results in high joint velocities

Question 59

How can you find singularities?

Answer 59

When rank of Jacobean is not full

Question 60

Jacobean matrix rows

Answer 60

x,y,z

Question 61

What detirmines workspace? [3]

Answer 61

Joint type, link length, presence of any limiters

Question 62

Types of end effectors

Answer 62

magnetic, gripper, vaacum

Question 63

What is the Lagrange -Euler approach for dynamic

Answer 63

kinetic- potentional energy

Question 64

What is Newton-Euler approach for dynamic

Answer 64

F=MA or T= IA

Question 65

What is a path?

Answer 65

sequence of positions a robot should move to

Question 66

What is trajectory

Answer 66

specifies along the path the timings of when the robot is supposed to be at each position

Question 67

Joint space scheme explain

Answer 67

use waypoints and inverse kinematics to joint joint angles at each of them, and then generate trajectory of joint angles

Question 68

Operational/Task space scheme explain

Answer 68

task points to make trajectory and solves kinematics at each point along line

Question 69

Pros of Task space [2]

Answer 69

Motion is predictable, Easier to handle obstacles

Question 70

Cons of Task space [2]

Answer 70

slower execution as iK at every step, actuator motion not guaranteed to be smooth

Question 71

Join space pros [2]

Answer 71

Faster execution, actuator motion is smooth and easier to validate

Question 72

Joint space con [1]

Answer 72

intermediate points not guaranteed and cant deal with objects