Intro to Robotics Exam 1
How is repeatability defined mathematically?
+/- 3 sigma
Describe a polar robot configuration.
2 rotary and 1 translational joint
Describe a cylindrical robot configuration
2 translational and a twist joint
Describe a SCARA robot configuration
2 twisting, and the last translational joint
Describe an articulating (jointed arm) robot configuration
3 rotary joints
How many joint types are there?
5
Body-and-arm assembly: for five types of joints with three DOF, how many configurations?
5^3 = 125
What is Law 0 of robotics?
A robot may not injure humanity or through inaction, allow humanity to come to harm
Describe a cartesian robot configuration
All translational joints
What is the equation for control resolution (CR2)?
CR2 = R/(2^B - 1) R is range B is number of bits
What does EOAT stand for?
End of Arm Tooling
Who held the patent for the Unimate robot?
George Devol
Robots can generally be classified as service or ___________ robots.
Industrial
Who popularized the term robotics through many science-fiction novels and short stories?
Isaac Asimov
What are the 2 types of translational motion joints?
Linear (L) Orthogonal (O)
What are the two components of a robot manipulator?
Links and joints
Service robots can be broken down into what two categories?
Personal or professional
What are the 5 most common robot configurations?
Polar Cylindrical Cartesian Articulating SCARA
When a robot has more than 6 DOF, what are those DOF called?
Redundant
What are the 3 types of rotary motion joints?
Rotational (R) Twisting (T) Revolving (V)
What does SCARA stand for?
Selective Compliance Articulating Robot for Assembly
What does TCP stand for?
Tool Center Point
Simply describe the payback formula
Total cost (one time) / Total savings (per year)
What was the first industrial robot?
UNIMATE
What is the equation for accuracy?
[(CR2)/2] + 3sigma