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