Robotics ISE 370

The ____-_____ is the "hand" connected to the robot's arm. A tool such as a gripper, a vacuum cup, tweezers, scalpel, blowtorch, magnet, hook, adhesive, clamps. The device on the end of the robot arm that performs the actual task.

end-effector

Jointed arm/ Revolute Configuration (_ _ _)

(RRR) ( 3 axial rotation)

Polar Configuration (__ __ __)

(RRT)

SCARA Configuration (_ _ _) hint:T=translate, R=rotate

(RRT)

Cylindrical Configuration (_ _ _, _ _ _, _ _ _) hint:T=translate, R=rotate

(TTR, RTR, RRT) - T=translate, R=rotate

Cartesian Configuration (_ _ _) hint:T=translate, R=rotate

(TTT) (translate)

Five recognized arm configurations: 1-_______ (or Cartesian) Coordinates 2-________Coordinates 3-_ _ _ _ _(list acronym and what is stands for) 4-_____ Coordinates 5-_______ _______ (or revolute-coordinates, articulate, or anthropomorphic).

1)Rectangular, (Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be described by using the X, Y, and Z coordinate system. It is claimed that the cartesian design will produce the most accurate movements. ) 2)Cylindrical, (has three degrees of freedom, but it moves linearly only along the Y and Z axes. Its third degree of freedom is the rotation at its base around the two axes. The work envelope is in the shape of a cylinder.) 3)SCARA,((Selection Compliance Assembly Robot Arm) is also known as a horizontal articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding motion along one axis in combination with rotation about another.) 4)Polar, (also known as polar coordinate robot arm, has one sliding motion and two rotational, around the vertical post and around a shoulder joint. The spherical arm's work envelope is a partial sphere which has various length radii.) 5)Jointed Arm (also known as an articulated robot arm. The arm has a trunk, shoulder, upper arm, forearm, and wrist. All joints in the arm can rotate, creating six degrees of freedom. Three are the X, Y, and Z axes. The other three are pitch, yaw, and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left and right. Rotate your entire forearm, this motion is called roll.)

Some robots have up to as many as __ dof A human skeleton has __ dof ________ (or ball) and are the other 2 types besides prismatic and revolt

20, 70, spherical andscrew

______ ______ ______: hard automation and flexible automation machines. ____ ________ deals with specialized machines designed for a specific operation or a narrow range of operations. _______ _________ deals with relatively general-purpose machines, such as the industrial robot.

Automated machines classes. Hard automation. Flexible automation.

_____ readout is divided up into _ _ parts. And an exact location can be found from 0.000 to 359.999 degrees. (Very $) _____encoders produce a pulse for every (marked) part on the shaft. The direction of rotation can be found using 2 encoders 90 deg out of phase.

Direct,32,Pulse

Three Ds' for robot application

Dirty,Dull, Dangerous

______ _________is the transformation from joint space to Cartesian space, and _______ _______ solves for the joint angles given the desired position and orientation in Cartesian space

Forward Kinematics and Inverse Kinematics

Lifting Force of a Vacuum Cup Function: __(lb)=_x_(_-_) A = Effective area of cup (in)^2 PO= Atmospheric Pressure (lb/in2) PI = Inside Pressure K = Porosity constant of material

LF(lb) = A x K(Po - PI)

Kinematics is important in robots, used to model: _____,______,and ______

Mechanisms Actuators Sensors

The SCARA acronym stands for ___ ___ ___ ___ ___and is one that is hard to remember. It's also sometimes referred to as: ____ ___ ___ ___ _____

Selective Compliant Assembly Robot Arm . or Selective Compliant Articulated Robot Arm

Four Basic Sensor Types: 1. ____ _______: respond to contact forces with another object 2.________ _______: indicate when an object is close to another object (within sensor range) 3. _____ ____: measure the distance from the object to the sensor 4. ______ ______ - views the workspace and interprets what it sees; used primarily for inspection, part identification

Tactile sensors Proximity sensors Range sensors Machine vision

Thermal EffectsVariation in the length of an extended arm as a function of temperature: _=_(_-_) L = length of arm c = coefficient of linear expansion TF = Final Temperature TI = Initial Temperature

V = Lc (TF - TI)

______ are used to represent points: • _______are used to represent:Operators (which change the entity) Transforms (which change the representation) Coordinate Frames (which represent rigid bodies)

Vectors,Matrices

The various robot configurations are based on either ______ or _____ joints whose position is described by a translation or rotation respectively, measured by a feedback element such as a potentiometer or optical encoder. The servo control systems drive each joint to eliminate the error signal formed by subtracting the measured from the commanded position.

prismatic or revolute