Chapter 2

5. List and explain the six degrees of freedom used of freedom used for robots

1. Rotational transverse - side to side movement; 2. Radial transverse - in and out motion; 3. Vertical transverse - up and down motion; 4. Pitch - wrist up and down; 5. Yaw - wrist side to side motion; 6. Roll - swivel.

1. Identify the five major components of a robot and explain the purpose of each

1. The Controller - Part of a robot that coordinates all movements of the mechanical system and receives input from the immediate environment through various sensors. 2. The manipulator -The arm of the robot which must move materials parts tools or special devices through various motions to provide useful work. 3.An end effector - A device that is attached to the end of the manipulator operates like the robot's hand. 4. Power supply - A mechanism that provides energy to drive the controller and actuators. 5. Means for programming -series of instructions stored in the controller's memory.

3. Name the three types of power supplies used to power robots. List the advantages and disadvantages of each

Electrical - most common quite , simple, require less floor space, energy source is readily available, geared drive can cause backlash & friction, these problems can cause inaccuracy, poor dynamic response ex; Hydraulic - much simpler arrangement storage tank supplies amount of instant power, provide precise motion, handle heavy loads, not easily damaged, noisy; and Pneumatic- economical and readily available, easy installation, less costly, requires additional components, difficult to keep air clean, noisy, vibrate.

2. What is the technical name for the robot's hand?

End effector.

7. What type of robots are considered open-loop? Explain what open-looped means.

In an open-loop system, no feedback mechanism is used to compare programmed positions to actual positions. Non-Servo robots are open-loop systems.

10. What are the common work configurations used by robots? List some advantages and disadvantages of each.

Revolute Configuration - a robot with this configuration can perform in irregularly shaped work envelopes. It is the most versatile configuration and provides a larger work envelope than the other the other work configurations. However, it requires a very sophisticated controller, and programming is more complex. Cartesian Configuration - This type of configuration can have simpler controls because of its totally linear movement. They have a high degree of mechanical rigidity, accuracy, and repeatability. They can carry heavy loads. The types of robots are generally limited in their movement to a small, rectangular workspace. Cylindrical Configuration - It normally results in a larger work envelope that a Cartesian configuration. They are ideally suited for pick and place operations. Their overall mechanical rigidity is reduced, along with their repeatability and accuracy. It requires a more sophisticated control than Cartesian configuration. Spherical Configuration - It generally provides a larger work envelope than Cartesian or Cylindrical. The design is simple and it provides good weight lifting capabilities. It has reduced mechanical rigidity and the need for a more sophisticated control system than Cartesian or Cylindrical.

4. In terms of degrees of freedom, explain why the human hand is able to accomplish movements that are more fluid and complex than a robot's gripper

The human hand has a total of 22 degrees of freedom while most robots have 3- 6 degrees.

6. Servo robots can be classified as intelligent or highly intelligent. Explain the difference between these.

The primary difference between an intelligent and highly intelligent robot is the level of awareness of its environment.

9. What determines the shape of the robot's work envelope?

The type of coordinate system, the arrangement of joints, and the length of the manipulator's segments all help determine the shape of the work envelope.

8. Why should you be concerned about the work envelope shape when installing a robot for a particular application?

Work envelopes vary from one manufacturer to another, depending on the exact design of the manipulator arm.