Final CIM
Four major components of a vision system
-lighting -filters -cameras -lenses
Three components of an industrial robot
-reprogrammable -fixed or movable multifucntional -manipulators
DC stepping motors are used in low power servomechanisms because
-rotary movement is easily repeated -movement error is usually less than 5 percent per step -shaft rotates a specific number of degrees each pulse of electric
which type of gripper would be most accurate when handling different sized objects
electric/electronic
What is the technical name of a robots hand or tool?
end effector
Why use a 3 phase motor when 3 phase power is available?
-cheaper -higher voltage -cheaper power -more efficent
A circuit that uses hardware based components that override all other robot controls, removes drive power from the robot actuators, and causes all moving parts to stop
estop
The measure of camera speed with the unit of (fps) or frames per second
frame rate
How did the term robot originate
from the playmaker karel capek
a class of vision system that is capable of recognizing 256 different colors from black to white
gray scale
NAND gates
has an output 1 when all inputs are 0
fewer poles means
higher RPM - less interference
The unit of measure of measuring the strength of a vacuum such as in a vacuum gripper is
in./Hg
the application of cameras and computers to cause some automated action based on images received by the cameras in the manufacturing process
machine vision
How are non-servo robots programmed?
mechanical stops and adjustments
The mathematics of shape analysis
morphology
What is the type of robotics programming that is not actually done to the robot
off-line programming
what is compliance
the ability to tolerate misalignment between parts
What is the only difference between a sinking and sourcing sensor
the direction of current flow
synchro/resolver
the type of servomechanism that was used before digital electronics
two types of thermoelectric sensors
thermocouple and thermistor
What is a discrete IO?
they are either on or off, true or false
A device that converts pressure into a proportional analog signal
transducer
what is the biggest hazard causing human injury around robots?
unauthorized access to workcells
What type of gripper would be best for picking up glass plates?
vacuum
Two methods for creating a vacuum
venturi valve and vein pump
As the load on a motor increases what values increase
watts
What is hard automation?
wired in automation that relies of non-changable programs - open loop systems - relay logic
The area that a robot can work in is
work envelope
To a controller what is the difference from the inputs from a sinking and sourcing sensor
-direction of current flow -sinking sensors switch negative power supply -sourcing sensors switch positive power supply
Three ways to power a robot
-electric -hydraulic -pneumatic
Who is joeseph enleberger?
Co-founder of Unimation and "father of robotics"
What type of gripper has a strong clamping force and can deliver 360 deg of clamping contact?
Collet
What is the customer supplied estop loop
Comes with direct connection to the drivers, having two branches of connection - one to an estop and the other to an estop within a controller
robots replacing human workers will do what
save costs
Servomechanism
self correcting closed loop control system
inductive sensor
sensor that detects ferrous objects
What is the most common type of valve used in robotic applications to control grippers
solenoid directional control valve
What does the term anthropomorphic mean?
something with human like qualities
A motor that rotates a specific number of degrees with each pulse of electric energy
stepper motor
sinking and sourcing types
switches negative or positive polarity component of the power supply
What type of device produces analog signal and measures speed?
tachometer
What type of output would be used to operate a proportional valve to control flow in a dispensing application?
analog
Three phase induction motors
do not need external starting mechanisms
Direct Current Stepping motors
- angular displacement or rotary movement is easily repeated -the shaft rotates a specific number of degrees
Three safeguarding devices in a robots workcell
-Barriers with interlocks -light curtains -estops
What year was the first patent awarded for a robot?
1954
What year were robots first used in manufacturing
1961
Example of a non-prehensile type of gripper
2 finger parallel (no thumb)
Present day robot population is closest to what number?
2,000,000
What speed would a 6 pole induction motor be running at with a 60 Hz AC source
2-3600 4-1800 6-1200 this one
How many degrees can a typical six axis articulated robot move on its base axis?
270
Example of an interlocked barrier
A cage around a robot's workcell that has a switch on the door that is electronically connected to the rest of the system.
Sensor can be powered by what types of electricity?
AC and DC
universal motor can be connected to what types of power
AC and DC
What type of output would be required to control a proportional valve which when connected to a gripper would allow it to grasp objects with different gripping forces?
AO -analog output
What type of IO's would be interfaced from the robot controller to a dispensing unit
AO and AI - all analogs
LVDT
Best type of sensor for measuring distance
What caused the 2nd generations of robots to evolve in the 1970's?
Microprocessors
What difference is there between the input from a sensor and the input from a mechanical switch?
No difference
OCR stands for
Optical Character Recognition - referring to the use of machine vision to recognize human letters
The measure of how well the CCD or camera can resolve small objects
Resoloution
What does SCARA stand for?
Selective Compliance Assembly Robot Arm
What must a robot also change when changing tooling?
TCP
What are error signals caused by?
They are normal signals caused by a deviation from the regular process from backlash
Mechanical switches that are connected as an input to a controller do not use, consume, or dissipate any power T or F
True
T or F - EOAT must conform to ANSI/RIA standards
True
Can encoders be used to report the speed of a mechanism?
Yes, because they go by number of bits per unit of time
Example of a safeguarding awareness signal
a flashing light that makes noise and activates when a light curtain or other barrier is crossed
A modern robot is defined as
a reprogrammable multifunctioning manipulator
OR gate will produce a 1 on its output when
all inputs are 1
What does a compliance device do?
allows for misalignment between robot tooling and parts to be picked
As load on a motor increases what values increase
ampres or current
How does a strain gage work
bending causes the wire to stretch changing its cross sectional area thus causing an increase in resistance which in turn will change the current and voltage
Least complex type of vision system
black and white
A form of overload protection for robot tooling is
break off upon impact forms of protection
How is RPM controlled on a robot that uses AC motors?
by varying the frequency
What type of sensor would be best for detecting clear plastic bottles on a conveyor?
capacitive
Type of sensor that will detect any type of material
capacitive - detects for capacity
A device that converts pressure into proportional analog signal
capacitor
Who is George Devol Jr.
co-founder of motoman Inc. which first produced commercially available industrial robots.
The gripper best suited for gripping parts of a uniform size
collet gripper
tactile sensor is a what sensor
contact sensor - touch
The number of axis that has or can move is referred to as what?
degrees of freedom
The robot specification that rates hoe much mass a can move on a continuous basis
payload
An abbreviated form of picture element - the individual elements that make up a image array
pixel
In a switch the number of _______ refers to the number of conductors it has and ________ refers to the number of positions it can move
poles throws
Functions of each wire in a sensor
positive power negative power NO NC
Best type of sensor for detecting any object and the level of material within something
proximity
strain gage
responds to mechanical energy by changing its resistance and is found in torque sensors on EOAT