part 14-elec buk(final)

PART 14ROBOTICS

I. HISTORICAL OVERVIEW OF ROBOT DEVELOPMENT

1801 Joseph Jacquard invents a textile machine that is operated by punch cards

1892 In the US, Seward Babbit designed motorized crane with gripper to remove ingots from a furnace.

1921 First reference to the word robot appears in a play opening in London entitled “Rossum’s Universal Robots”. The play was written by Czechoslovakian Karel Capek introduces the word robot from the Czeck robota meaning serf or subservient labor

1939 Isaac Asimov’s science fiction writing introduces robots designed for humanity and work safely. He formulate the “Three Laws of Robotics”

1946 George Devol patents a general purpose playback device for controlling machines

1948 Norbert Wiener, a professor of Massachusetts Institute of Technology (MIT) publishes Cybernetics, a book that describes the concept of communications and control in electronic, mechanical and biological systems

1951 A tele-operator equipped articulated arm is designed by Raymond Goertz for the Atomic Energy Commission

1954 The first programmable robot is designed by George Devol who coined the term Universal Automation. Devol is joined by Joseph Engelberger in 1956 and shorten the name to Unimation and form the first successful robot manufacturing company

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II. ROBOTS

A reprogrammable, multifunctional manipulator designed to move parts, materials, tools or special devices through variable programmed motions for the performance of a variety of different tasks. These multi-purpose machines are generally designed to carry out repetitive function and be adapted to other functions.

1. Components of a Robot a. Actuator

Serves as the muscle of the system, produces the motion with power supplied electrically, pneumatically or hydraulics

b. Communicator A unit transmitting information and receiving instructions from a remote operator

c. Control Computer/ Controller The central computer that integrates the activity of several microprocessors Brain of the robot

d. End effectors Device at the end of the manipulator arm and use to make intentional contact with an object Gripper, hooks, scoops

e. Manipulator Mechanism consisting of several segment or arms

f. Power Supply Generally some energy storage device such as battery for a mobile unit otherwise hook up to the power grid

g. Sensor Usually a transducer of some kind whose inputs are physical phenomena and whose outputs consists of electronic signals

2. Axes Control a. 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

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b. Servo Control The servo control allows the mechanics of the robot to communicate with the electronics of the controller. Equipped with feedback sensors so that controller knows the exact position of the end effector at all times self correcting and self regulating

3. Drive Systems / Actuations a. Pneumatic Drive

reserved for smaller robots which are limited to simple, fast cycle and pick 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

b. 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 br achieved Messy-tends to leak oil even in the periods when the robot is not in motion High initial and operating cost

c. 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

4. Robot’s Manipulator Arm Geometry a. Cartesian Coordinates

Uses three perpendicular slides to construct the X, Y and the Z axes Rectangular work space or work envelope Work envelope refers to the space with which the robot can use its wrist


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b. 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

c. Polar Coordinates Uses a telescoping arm that can be lowered or raised about a horizontal pivot which is mounted on a rotating base

d. 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 second straight component and provides several additional joints

5. Wrist Rotation a. Yaw axis

Describes the wrist angular movement from the left side to the right side

b. Pitch axis Describes the wrist’s rotational movement up and down

c. Roll axis Describes the rotation around the end of the wrist

6. 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.

Total no. of locations = 2n

Where n – degrees of freedom


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III. CLASSIFICATIONS OF ROBOTS

1. According to Control a. Fixed/Variable Sequence

Pick and place robots Point to point movement

b. Playback Robot Robots that memorizes the path and sequence of motion

c. Numerically Controlled Robot Servo-controlled by digital data

d. Intelligent Robot Equipped with a variety of sensors

2. According to Movement a. Rectilinear /Cartesian

Works with Cartesian manipulator arm geometry Movement is three direction only: up/down, left/right and front/back

b. Cylindrical Robot Robot whose work envelope is cylindrical Robot’s arm swings around its base with up and down motion

c. Spherical Robot Robot whose work envelope is spherical in shape and obviously it 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)

d. Fully Articulated Robot Robot with polar articulation for all degrees of movement One example is the SCARA(Selective Complaint Assembly Robot Arm) which has six axes therefore increases its degrees of freedom Used in welding, painting, laser cutting and water jet cutting

3. According to Program Used


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a. Positive Stop Produces only 2 position motion Bang-bang motion

b. Point to Point Ability to move a robot axis to any position within its range

c. Continuous Path Like point to point Destination points are very closed together

TEST YOURSELF 14


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Review Questions 1. A robot that has the approximate appearance of a human being

a. Androidb. Cyborgc. Nemicd. Inhumanoid

Answer a. Android

2. A short term meaning a human being with artificial limbs or organsa. Androidb. Cyborgc. Nemicd. Inhumanoid

Answer b. Cyborg

3. The operational basis for a machine, computer or mechanism to perform some function normally associated with human intelligence

a. Intelligenceb. Artificial Intelligencec. Knowledged. Heuristics

Answer b. Artificial Intelligence

4. A robot that performs tasks in the homea. Household robotb. Robomaidc. Domestic robotd. Buddy Robot

Answer c. Domestic robot

5. A program written by Joseph Weizenbaun to meet Turing’s definition of artificial intelligence.a. MACBETHb. ELIZAc. AMJd. PARALLAX

Answer b. ELIZA

6. The desirable characteristics for handling the robots area. Good pay load capacityb. Large work space/robot size ratioc. Simple point to point controld. All of the above

Answer d. All of the above7. SCARA robots are specifically designed for ______operations.


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a. handlingb. weldingc. assemblyd. machining

Answer c. assembly

8. Robot classification is usually based ona. Its manipulators anatomyb. Its controller designc. Its suitability for production tasksd. All of the above

Answer d. All of the above

9. Which of the following country maintains the highest ratio of robot worker to human worker?a. USAb. UKc. Japand. Germany

Answer c. Japan

10. A modern industrial robot is _______.a. multi-functionalb. servo-controlledc. programmabled. all of the above

Answer d. all of the above

11. DC motors and stepper motors are mainly used in robots instead of AC motors because they can

a. Be electronically controlled b. Be operated by electric pulsesc. Withstand large overloadsd. Run at varying speed

Answer c. Withstand large overloads

12. Any solid object has a maximum _______degrees of freedom.a. 3b. 4c. 5d. 6

Answer d. 6


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13. Programming of a continuous path robot is normally carried out by a method called ________through.

a. leadb. drivec. walkd. run

Answer c. walk

14. The essential feature of a non-servo controlled robot is thata. it requires programmable logic controllerb. each of its axis can move only between hardware stopsc. it is smalld. it is used for heavy loads

Answer b. each of its axis can move only between hardware stops

15. The word “robot” was coined bya. Kondratieffb. Karel Capekc. Cyril Walter Kenwardd. Jaime Licuanan

Answer b. Karel Capek

16. ________robot is primaril;y used for machining processesa. Cincinatti T3b. DEA PRAGMAc. ADEPT Oned. Jolly 80

Answer a. Cincinatti T3

17. Serves as the muscle of the system, produces the motion with power supplied electrically, pneumatically or hydraulically.

a. Communicatorb. Control Computerc. Actuatord. Manipulator

Answer c. Actuator

18. The arm assembly of the robot.a. End effectorb. Manipulatorc. Actuatord. Controller

Answer b. Manipulator


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19. ________is a device connected to the wrist’s flange of the manipulator’s arm. It is used in many different situations in the production area.

a. End effectorb. Manipulatorc. Controllerd. Actuator

Answer a. End effector

20. Refers to the movement of the base of the robota. Actuationb. Walkc. Traveld. Precession

Answer c. Travel

21. What is the other name for the axes found on the manipulator?a. appendageb. cycle timec. degrees of freedomd. actuator

Answer c. degrees of freedom

22. Describes the wrist’s angular movement from the left side to the right side.a. Pitchb. Rollc. Rotationd. Yaw

Answer d. Yaw

23. _______is a computer language developed in the 1950s at MIT. It is designed to manipulate lists of symbols and is well suited for working with words and phrases

a. RAILb. BASICc. LISPd. WAVE

Answer c. LISP

24. A high level programming language which was developed at the robotics research center at Stanford University. It is useful for robotics research because it can provide coordination between two arms of the robot.

a. MCLb. ALc. RPLd. Assembly language

Answer b. AL


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25. It is a high level computer language developed by Robotronic Corporation to make commanding a personal robot easier

a. Androtextb. ARMBASICc. AMLd. HELP

Answer a. Androtext

26. It is considered as the robot’s brain.a. chain knucleb. sensorc. end effectord. controller

Answer d. controller

27. This is used to program and teach positional information for the manipulator.a. operator’s panelb. computer controlc. manual data input paneld. teach pendant

Answer d. teach pendant

28. It is a robot software that produces only two position motiona. pick and stop programsb. point to point programsc. continuous path programsd. positive stop programs

Answer d. positive stop programs

29. A user program that has the ability to move a robot axis to any position within its range.a. pick and placeb. point to pointc. positive stopd. continuous path

Answer b. point to point

30. What are the basic categories of industrial robot?a. fast and slowb. mechanical and electricalc. autobots and deceptionsd. pick and place manipulator and intelligent robot

Answer d. pick and place manipulator and intelligent robot


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31. It is a robot which is capable of decision making and has memory.a. pick and place robotb. expert robotc. continuous robotd. intelligent robot

Answer d. intelligent robot

32. It is a robot structure wherein the body can pivot vertically and horizontally and the arm moves radially.

a. polar structureb. pivotalc. cylindrical structured. roborat

Answer a. polar structure

33. It is a robot structure wherein the body can rotate horizontally and the arm can move vertically and horizontally.

a. polar structureb. pivotalc. cylindrical structured. roborat

Answer c. cylindrical structure

34. The total weight that a robot arm can carry.a. burden capacityb. payloadc. gripperd. power

Answer b. payload

35. Which is not the usual power source that steers the arm of the robot?a. thermionicb. hydraulicc. pneumaticd. electric

Answer a. thermionic

36. The ______are two of the most common mechanical configurations of industrial robots.a. spherical and pneumaticb. articulated arm and cylindricalc. spherical and hydraulicd. jointed-arm and electric

Answer b. articulated arm and cylindrical


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37. A system in which the precise movement of a large load is controlled by a relatively weak signal.

a. hydraulicb. electroc. synchrod. servo

Answer d. servo

38. A limited robot sequence is__________.a. pick and placeb. point to pointc. continuous pathd. robota

Answer a. pick and place

39. The first patent for an industrial robot was developed in 1954 by_______.a. Asimovb. Manikoc. Devold. Hitachi

Answer c. Devol

40. The operational space of a robot is________.a. coordinate systemb. dead zonec. degrees of freedomd. work envelope

Answer c. degrees of freedom

41. The individual sections of the robot arm between the joints are_______.a. armsb. branchesc. linksd. axes

Answer c. links

42. The control system for sport welding is__________.a. point to pointb. pick and placec. continuous pathd. point to multi-point

Answer a. point to point


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43. _______is a type of actuator of industrial robots that has great force capability and great holding strength when stopped.

a. pneumaticb. steamc. electricd. hydraulic

Answer d. hydraulic

44. __________, a professor at MIT publishes cybernetics, a book which describes the concept of communications and control in electronic, mechanical and biological systems

a. Willard Polardb. Seward Babittc. John Mauchlyd. Norber Wiener

Answer d. Norber Wiener

45. Stanford Research Institute (SRI) built and tested a mobile robot with vision capability is called ________.

a. Unimateb. Universal automationc. Cyberneticsd. Shakey

Answer d. Shakey

46. Riochard Hohn for Cincinnati Milacron Corporation develops the first commercially available minicomputer-controlled industrial robot. The robot is called the ______.The Tomorrow Tool.

a. T3b. Universal Automationc. Versatrand. Shakey

Answer a. T3

47. Joseph Engelberger starts Transition Robotics, later named _______, to develop service robots.

a. Helpmatesb. Playmatesc. Classmatesd. Servicemates

Answer a. Helpmates


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48. The ability of a robot to produce meaningful speech outputa. Speech synthesisb. Speech detectionc. Speech refinementd. Speech recognition

Answer a. Speech synthesis

49. The length of time in years required for a robot to pay for itself through the savings it provides.a. Propagation Periodb. Delay periodc. Payload periodd. Payback Period

Answer d. Payback Period

50. Condensed human intelligence on some subject area. A human is led through the system by answering a series of questions asked by the system.

a. Robot choreographyb. Expert systemc. Roboteerd. Knowledge system

Answer b. Expert system


part 14-elec buk(final)

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