MFET 248

What are position, orientation, and pose/configuration, respectively?

• Position is the translational (straight-line) location of an object • Orientation is the rotational (angular) location of an object • Pose/Configuration is position plus orientation of an object

List at least ten specifications you need to consider when selecting a robot.

• Positioning resolution, repeatability, and accuracy • Workspace • Arm geometry • Degree of freedom • Positioning flexibility • Load capacity • Speed • Programming • Sensing requirements • Special requirements • Cost

Identify the basic components of the Fanuc robot system. Drawing a block diagram to illustrate how they are connected to each other.

Draw it out yo

Identify the basic components of the Adept robot system. Drawing a block diagram to illustrate how they are connected to each other.

Draw the schematic

When jogging the adept robot, identify at least four ways to stop the motion of the robot arm immediately due to emergency

E-stop on teach pendant E-stop on robot controller Door sensors can also function as E-stop Remove hand from the deadman switch

When jogging the Fanuc robot, identify at least four ways to stop the motion of the robot arm immediately due to emergency.

E-stop on the teach pendant Release the deadman switch E-stop on the operator box Door sensors can be opened to activate E-stop

List at least 4 major robot manufacturers in the following format: Manufacturer, founded in...., headquarters

Fauna, Japan, 1958 Adept, US, 1983 Yaskawa Motorman Robotics, US, 1989 KUKA, Germany, 1898

Describe the startup procedure for Adept robots (in the order of execution).

- Close all the doors and make sure all the interlocks are properly engaged - Check all panic buttons and make sure all of them are pulled out - Log onto the computer using your career account -Run "Adept windows PC" - "Adept Windows PC" - Find IP Address - Open Program - Follow steps on program - Perform Calibration - Begin Procedure

What is the ISO definition of a robot?

A robot is an automatically controlled, reprogrammable, multipurpose, manipulative machine with several reprogrammable axes, which may be either fixed in place or mobile for use in industrial automation applications

Define accuracy and repeatability with respect to robot operation and explain how they are different.

Accuracy is the degree to which the robot can move the TCP how closely to the specified point. • Repeatability is the degree to which the robot can return the TCP how closely to the specified point. • Precision is the "fineness" with which a sensor can report a value. Precision is related to significant figures.

Compare the five basic robot arm geometries according to the advantages and disadvantages of each arm geometry, the workspace, and typical applications.

Cartesian Arm Geometry Cylindrical robot arm geometry Spherical robot arm geometry Articulated robot arm geometry SCARA robot arm geometry

Compare hydraulic, pneumatic, and electric robots by preparing a table that illustrates the strengths and weaknesses of each.

Hydraulic: Can provide large amounts of force and can constantly remain the same pressure. Can leak, requires companion parts Pneumatic: Simple, generate precise motion, can be used in extreme temps. Less efficient, pressure losses, has contamination issues. Electric: Highest precision, quiet, zero leaks. High initial cost, not suited in all environments, overheating issues.

What are the three robot programming technologies we discussed in class?

Lead-through programming: The human operator physically grabs the end effector and shows the robot exactly what motions to make. • Teaching programming: The human operator moves robot to required positons via teach pendant. • Offline programming is to use a computer software to plan and program motions.

List at least three essential characteristics of robots and explain each characteristics.

Perception (to sense): A robot must be able to sense the world • Cognition (to think): A robot must be able to make decisions • Manipulation(to act): A robot must be able to do work

Describe how the following four path control techniques work: stop-to-stop, point-to- point, continuous, and controlled path control.

Point: The robot's path moves point to point from a pre recorded memory. Continuous Path: The robot can move along a specified path and can stop at any point in its stored memory. Controlled: The robot can generate multiple paths of different geometry to reach the end goal. Stop: Doesn't exist. Similar to point to point.

What are the six basic/major components of a robotic system? Describe the basic function of each basic/major component.

Robot Manipulator/Arm • Mechanical device driven by electric, pneumatic, or hydraulic actuators End Effector • Is the tool mounted on the tip of the arm and in direct contact with the environment Controller • Issue commands to and receive feedback from the robot • Control peripheral devices Teach Pendant • Is a special input/output device • Is a handheld terminal with a flat screen, multiline, touch sensitive display Sensors • Are small electronic or electro-mechanical components that allow the robot to react to its environment. Other Data Interfaces • The controller provides input/output interfaces to communicate with other robots/devices.

There is a key switch with three positions (i.e., Auto, T1, and T2) on the operator box. Describe the meaning/purpose of these three positions.

T1 is the slowest mode for jogging the robot. T2 can be used at the highest speed, but the deadman switch must still be engaged. Auto is used to run the program at full speed without human input.

What is a workcell?

Workcell: A group of machines/equipment positioned with one or more robots to do useful work

What is workspace?

Workspace is the space or set of poses (both positions and orientations) the robot can physically reach.

We discussed four coordinate systems, namely, the world coordinate system, the robot coordinate system, the tool coordinate system, and the user coordinate system. Where are they relocated respectively? What is the purpose of the each coordinate system?

World: Located in the respective X,Y,Z coordinates in a fixed spot. Their purpose is for handling robots moved by external axes. Robot: The robot coordinate system is also referred to as the base system. Located at the absolute base of the robot itself. Purpose is for coordinates to know location while jogging the robot. Tool: located at the counterpoint of the tool. The purpose is to have a predetermined coordinate system for executing programs for the tool. The tool will move to the programmed position, when executing the program. User: Located at a fixed location for the robot. Adds an extra level in the chain of related coordinate systems, which might be useful in handling the robots.