CIM Robotics Test
Types of Power Supply
electromechanical, hydraulic, pneumatic
Why use robots
-Reduce labor costs -Eliminate dangerous jobs -Increase output rate -Improve product quality -Reduce waste
How does a polar coordinate/spherical robot move?
has a spherical work envelope..but with limits..can also move some parts linearly
George Devol
his most notable invention was the robot Unimate in the 50s Unimate was the first industrial robot manufactured for assembly line usage. Although this can be dated back to the 1st century, Devol is credited for developing the first modern automatic opening door.
How does a Cartesian robot move?
linearly (x,y,z axis)
How does a Cylindrical Robot move?
move linear, rotational (around the cylinder), linear; looks like a cylinder...but can't move all the way around; have a skirt (accordion) around the base
What is the problem with the acme screw?
the acme screw has a little gap- creates backlash- unwanted movement in a machine)
What is handshaking?
the communication between the different components --using sensors to control -like with the mill and the robot in the simulation for it to wait -better because there could be a timing problem if didn't use it (waited a long time)
Marc Thorpe
the idea of robot wars. Robot Wars are when two radio controlled robots built for competition compete in live, gladiatorial events. Marc Thorpe was born in San Francisco, CA, and first major accomplishment was when he worked for ILM (Industrial Lights and Magic) and worked on special effects for Lucasfilm on films such as Star Wars and Indiana Jones. Later on, he worked for LucasToys in the early 90s. This background of both special effects and of toys are likely what led him to the idea of Robot Wars in 1993. After forming his idea of Robot Wars, his first major work with the idea was the UK TV Show (called Robot Wars) that aired on BBC from 1998 to 2004.
what is the hand of the robot called?
the manipulator
What are drive systems?
the motors that actually get it to move with power
How does a jointed arm robot move?
rotational on base, shoulder, elbow, and wrist (basically rotational on all joints)...work envelope in spherical and has a bigger range of motion than the polar robot
how does a SCARA robot move?
selectively compliant articulated robot arm (or ....assembly robot arm); the work envelope is not quite a cylinder...it is a kidney shape; used for pick and place...very popular in factories that assemble small things
What does robotics mean?
slavery, hard work, drudgery
Isaac Asimov
(1920-1992, United States). Along with Robert A. Heinlein and Arthur C. Clarke, Asimov was one of genre science fiction's "Big Three" writers. During the 1930s and 1940s "Golden Age" of science fiction pulp magazines, Asimov worked closely with Astounding Science Fiction editor John W. Campbell Jr. to create stories such as "Nightfall," which describes a rare moment of darkness on a planet with multiple suns, and "Robbie," the first of Asimov's many works about robots with positronic brains. (The word "robot" was introduced by the Czech author Karel Capek in the 1920 play R.U.R., which depicts the worldwide uprising of "Rossum's Universal Robots"). Before Asimov, most stories about artificial life had followed the template established by Shelley's Frankenstein, in which a scientist who tries to usurp God's power to create life is ultimately destroyed by his own creation. Asimov challenged this trope by creating the "Three Laws of Robotics," which robots in his stories are obligated to follow. The laws are as follows: A robot may not injure a human being or, through inaction, allow a human being to come to harm. A robot must obey the orders given it by human beings, except where such orders would conflict with the First Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. By using these laws in dozens of stories (some of which were collected in the book I, Robot), Asimov helped to promote a conception of robots as useful machines rather than inhuman monsters. Asimov is also known for his Foundation series, which was inspired by Edward Gibbon's The History of the Decline and Fall of the Roman Empire. The Foundation series begins when the "psychohistorian" Hari Seldon realizes that the Galactic Empire will soon fall, and creates the title organization to limit the length of the ensuing Dark Age. Asimov eventually linked together his Robot and Foundation series into a far-reaching "history of the future," which also includes Asimov's novels The Caves of Steel, Pebble in the Sky, and The Stars, Like Dust. Isaac Asimov's Three Laws of Robotics was his greatest contribution to modern robotics. These laws were proposed in his novel, I, Robot. The three laws of robotics are; A robot may not injure a human being or, through inaction, allow a human being to come to harm; A robot must obey the orders given it by human beings except where such orders would conflict with the First Law; and A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. These laws have greatly affected how robots functioned in the future.
Parts of a typical robot
- Manipulator (joints, gripper, process tooling, general purpose effectors) - Power supply (electric- most typical, pneumatic, Hydraulic) - Controller (controls a robot, stores data) Subsystems: Kinematics (different types of movement- Cartesian coordinate robot, etc) Control system Drive
Kinematics Control Drive system
- things in robot that enable it to move - to control movements - for powering potter
Archytas
300BC Greek - built "wooden pigeon" that moved through air He is believed to have invented the first toy rattle, the screw thread, and the first flying machine, among others. He created the first flying machine, which has inspired many. He founded mathematical mechanics, or mechanical engineering. He helped advance and expand the use of steam and compressed air. If it is true that he invented the screw thread, he has greatly influenced many products and inventions, including the use of screws in some robots.
Absolute ring thing: VS Incremental:
Absolute ring thing: -Black white on off -Base 2 number system...multiplying by two -see what number you are on even if the machine turns off, it will know where it is Incremental: -Uses two sensors reading the flashes of light -Can tell what direction the motor is turning... by the flashes of light -Though, if power goes off, it cant determine what the location is by the light flashes
Cartesian robot applications
Arc welding Handling machine tools Most assembly operations Application of sealant Pick and place
Jacques de Vaucanson
Between 1700 and 1900 a number of life-sized automations were created including a famous mechanical duck made by ____________ that could crane its neck, flap its wings and even swallow food. french engineer and inventor who made the first true robots and the first completely automated loom which ended up being a failure because some of the parts were to expensive. Also built the first all metal lathe. Jacques de Vaucanson affected robotics by making the very first pre-robots called automatons. This helped start the beginning of robotics.
George Boole
Boolean logic and Boolean Algebra George Boole is considered the father of the digital revolution He established modern symbolic logic which is used in many computer programs such as search engines His algebraic logic is known as Boolean algebra Boolean algebra is used in the design of digital computer circuits Without his invention of this symbolic logic or Boolean algebra it would be impossible for us to have any sort of robotics today
Pros and cons of Hydraulic drive systems
Compact Allows for high levels of force and power, combined with accurate control Converts forces from a liquid into rotational of linear forces Quickly being replaced by servo-driven ball screw type systems Messy-fluid may contaminate parts, mess up other handling machines, and may not finish Not environmentally friendly- fluid can be toxic May require costly clean up and disposal
Functions of sensors
Detect positions Orientate parts Ensure consistent product quality Read part characteristics Identify obstacles Determine and analyze system malfunctions
Relative position advantage
Don't shave to change all points if there is a mistake Don't hVe to code many more positions
What are the different types of drive systems?
Electro mechanical Pneumatic System is used to hold things Hydraulic Systems are used for very high strength needed
Charles Babbage
He is known as the "Father of Computers." He developed the Difference Engine and the Analytical Engine. These two machines were powered by steam to move the punch cards and operate the gears. His ideas were later used to design calculators and computers. invented one of the first mechanical computers and proposed the idea for the first automated, programmable, digital computer. Charles Babbage had a major impact on robotics and automation since he invented the first designs and prototypes of a computer.
Alan Turing
English mathematician who conceived of the Turing machine and broke German codes during World War II (1912-1954) Alan Turing developed the "universal Turing machine" that interpreted and manipulated symbols on a tape. This machine was constructed with the same logistical and fundamental principles as the modern day, digital computers that we use today. With this invention he discovered that not all problems can be solved using an algorithm He created a machine called the "Bombe" that allowed the messages to be decoded. The Bombe had roughly 100 rotating drums, 10 miles of wire, and about 1 million soldered connections. The machine would find connections and patterns between the internal positions of gears in the Enigma machine that would turn coded letters into German words the question of whether machines were able to think. From this he developed the Turing Test, which theoreticized that a machine was intelligent if it could trick a human questionnaire into believing the machine was a human.
Joseph Marie Jacquard
French inventor of the Jacquard loom that could automatically weave complicated patterns (1752-1834) invented the Jacquard loom, which served as the impetus for the technological revolution of the textile industry and is the basis of the modern automatic loom. The loom contributed to the transformation of textile weaving from a 'cottage industry' run by close-knit families of skilled workers, to a focus of mass production on an industrial scale.
Polar coordinate robot applictaions
Handling machine tools Spot welding Handling diecast machines Fettling machines Gas welding Arc welding
Pros and cons of pneumatic drive systems
Inexpensive compressed air to operate Good for clamping work pieces Speed and position not easily controlled
How many degrees of freedom did the robot in the simulation have?
Jointed arm robot in the simulation had 5 degrees of freedom - slide base and gripper do not count... (count number of joints usually)
Robot sensor examples
Micro switch Solid-state switch Proximity sensors Photoelectric sensors Rotary position sensors
What screw does a modern CNC machine use? why?
Modern CNC machines use the ball screw doesn't create backlash--unwanted movement in a machine
Jointed arm robot applications
Most assembly operations Handling diecast machines Fettling Maggie's Gas welding Arc welding Spray painting Shoulder, elbow, wrist, and base/waist joints
Cylindrical coordinate robot applicatiosn
Most assembly operations Handling machine tools Spot wedding Handling die-cast machines
Karel Capek
Person who coined the word Robot which stands for hard work in Czech In his play "Rossum's Universal Robots", Capek for the first time used the word robot to refer to a machine that does actions automatically. This led to an entire new field of engineering to be formed, robotics. His ideas crafted the future of machines and engineering, creating one of the largest industries in the world with this concept. Not too long after this play was made, the term robot was widely known and people began creating "robots" of their own.
SCARA robot applications
Pick and place Application of a sealant Most assembly operations Handling at Machine tools
Pros and cons of electrical drive systems
Precise motion control Greater strength Expensive and inefficient High maintenance Noisy
What is the point of control systems? And types?
Provides a logical sequence for a robot to follow Provides positional values required for each step of the process The robot then continuously checks those values to keep the system on course Point-to-point Cintinous Path
Point to point control system
Records the beginning and end position Determines the best path to take between the two points Used when the path doesn't matter or greater repeatability is required
Continuous Path control system
Robot is programmed to follow an irregular path exactly as recorded The path is represented by many stored points close together During the work cycle, the robot follows the points to reproduce a desired path
What are electromechanical drive systems driven by?
Servo motors Stepper motors Pulse motors Direct drive electronic motors
What do the drive systems determine?
Speed of the arm Strength of the robot Dynamic performance Application type
Absolute/Incremental Encoders and TCP
The encoders are used to determine where the TCP is in the work envelope at all times TCP- tool center point (the x,y,z coordinate of the end effector-gripper)
Leonardo Da Vinci
This included the helicopter (Aerial Screw) and self automated movable robot body (Robot di Leonardo). Triple Barrel Canon which was created for mobility and speed. The canon could be brought onto battlefields rather than only using it in stationed location. Leonardo also created robotical machines like the Automa Cavaliere (Robot di Leonardo).
TCP
Tool Center Point
Victor Scheinman
Worked at Stanford Artificial Intelligence Laboratory - Found the current designs for robotic arm ineffective Stanford Arm (1969) - Could follow more complex paths in space - Worked for more sophisticated and complicated applications MIT Arm (1972) - More effective than Stanford Arm - Language VAL was developed for controlling the robot Vicarm and PUMA (1977) - Improved upon a design by Unimation - Unimation bought the design and further improved upon it - Named to "Programmable Universal Machine for Assembly" (PUMA) Full automation - Worked with Automatix to develop RobotWorld, a system of automation only involving robots in their own working space, with no human intervention "Stanford Arm" was a revelation in the robotics and automation industry because it was the first self contained robot that could make accurate movements in 6 axes.
Accuracy vs. Precision
accuracy: how close experimental value is to accepted value; precision: how closely measured values agree with each other Accuracy - go where you want vs. precision/repeatability - around the same place
Richard Greenblatt
become a programming and hacking genius. During his time at MIT, Greenblatt would co-design the Lisp machine and take part in the teams that made the MACLisp language, Mac Hack computer chess, and the Incompatible Timesharing System (ITS) operating system. Lisp Machine MacHack Computer Chess The Incompatible Timesharing System is a time-sharing operating system developed primarily by the Artificial Intelligence Laboratory, where Greenblatt was conducting his work, with help from Project MAC at MIT. ITS allowed applications such as EMACS and GNU informations to be developed, along with various programming languages such as MacLisp, Micro Planner, MDL, and Scheme. ITS supported Programmed Data Processor-6 and Programmed Data Processor-10 and was a crucial factor in the development of the hacker culture which arose at MIT in the 1960s. . Even though, computer chess is seen as simplistic and a small part of AI now, its contributions led to more complex solutions such as robots utilizing AI which affected the robotics community and me personally since it paved the way for me to be able to program robots to complete certain tasks and run certain codes.
What do robot sensors provide?
closed loop control - Encoders provide info for a robot or machine
What does the controller do?
controls the robot, sends signals, stores data
What jobs to robots do?
dirty, dangerous, dull
Takeo Kanade
one of the lead researchers on Computer Vision. Computer Vision seeks to understand and do tasks that the human visual system can do. For example, if a robot assembly line was creating shoes for Nike, and one defective shoe was made, a robot like this with the ability to do visual tasks a human can do would be able to take that shoe off of the assembly line. This Computer Vision could also be used in place of humans, for surgeries in the medical field, and even for saving humans in fires, where metal (like for a helicopter), can survive, but regular fire fighters cant. affected automation/robotics, by giving robots a more human way to them, as they would be able to use visuals, like those that humans see, and be able to fix something or do something from there. This is in contrast to regular robots that just have a code to them, and not visual sensors taking in and reacting to environment stimuli, and making a decision from there.
What are the two ways to control robots?
point-to-point (staring and end point...doesn't matter in between) and continuous path (the path in between matters)
