Robotics reviewer for electronics

7/26/2019 Robotics reviewer for electronics

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ROBOTICS

I. HISTORICAL OVERVIEW OF ROBOT DEVELOPMENT

1801 Joseph Jacquard invents a textile machine that is operated by punch cards

1892 In the US, Seard !abbit desi"ned motori#ed crane ith "ripper to remove

in"ots $rom a $urnace%

1921

&irst re$erence to the ord robot appears in a play openin" in 'ondon entitled(Rossums Universal Robots% )he play as ritten by *#echoslova+ian arel*ape+ introduces the ord robot $rom the *#ec+ (robota meanin" ser$ orsubservient labor

19-9 Isaac .simov/s science $iction ritin" introduces robots desi"ned $or humanity

and or+ sa$ely% e $ormulate the ()hree 'as o$ obotics

1934 5eor"e 6evol patents a "eneral purpose playbac+ device $or controllin"

machines

1938 7orbert iener, a pro$essor o$ assachusetts Institute o$ )echnolo"y :I);

publishes *ybernetics, a boo+ that describes the concept o$ communications andcontrol in electronic, mechanical and biolo"ical systems

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&'() Robotics

II. ROBOTS

. repro"rammable, multi$unctional manipulator desi"ned to move parts,

materials, tools or special devices throu"h variable pro"rammed motions $or theper$ormance o$ a variety o$ di$$erent tas+s% )hese multi=purpose machines are "enerally desi"ned to carry out repetitive

$unction and be adapted to other $unctions%

&. Co*+onent, o- a Root a. Act/ator

Serves as the muscle o$ the system, produces the motion ith poer supplied

electrically, pneumatically or hydraulics

. Co**/nicator. unit transmittin" in$ormation and receivin" instructions $rom a remote operator

c. Contro! Co*+/ter0 Contro!!er )he central computer that inte"rates the activity o$ several microprocessors

!rain o$ the robot

d. End e--ector, 6evice at the end o$ the manipulator arm and use to ma+e intentional contact

ith an ob?ect 5ripper, hoo+s, scoops

e. Mani+/!ator echanism consistin" o$ several se"ment or arms

-. Poer S/++!1 5enerally some ener"y stora"e device such as battery $or a mobile unit

otherise hoo+ up to the poer "rid

g. Sen,or Usually a transducer o$ some +ind hose inputs are physical phenomena and

hose outputs consists o$ electronic si"nals

). A2e, Contro!

a. Non Servo Contro! ovement o$ the robots axes is stopped by a hard mechanical stop placed inthe travel path 7on=sel$ correctin" and not=sel$ re"ulatin"

E!"c#r$ni% Macro Integrated Training and Revie Center


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Robotics &'- 3

. Servo Contro! )he servo control allos the mechanics o$ the robot to communicate ith the

electronics o$ the controller% >quipped ith $eedbac+ sensors so that controller +nos the exact position o$

the end e$$ector at all times sel$ correctin" and sel$ re"ulatin"

3. Drive S1,te*, 0 Act/ation, a. Pne/*atic Drive

reserved $or smaller robots hich are limited to simple, $ast cycle and pic+

place operation have to to $our de"rees o$ $reedom

quic+ response loer initial and operatin" cost than a hydraulic system

accurate positionin" and velocity control are impossible :requires mechanical

stops ea+ $orce capability

. H1dra/!ic Drive used in lar"er robots

"enerally heavy and require lar"e $loor space and heavy $loor loadin"s

"reat $orce capability

"reat holdin" stren"th hen stopped :ill not sa";

intrinsic sa$e in $lammable environments such as paintin"s

accurate servo type positionin" and velocity control can be achieved

essy=tends to lea+ oil even in the periods hen the robot is not in motion

i"h initial and operatin" cost

c. E!ectric Drive 5ood $or robots in li"ht duty, precision applications but does not o$$er the speed

and stren"th o$ a hydraulic drive Used in electronic assembly here precision is required

*lean @no oil lea+s

'oer initial and operatin" cost compared as compared to hydraulic and

pneumatic drive 'ess $orce capability as compared to hydraulic system

'. Root4, Mani+/!ator Ar* 5eo*etr1 a. Carte,ian Coordinate,

Uses three perpendicular slides to construct the A, B and the C axes

Macro Integrated Training and Revie Center E!"c#r$ni%


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&'(' Robotics

ectan"ular or+ space or or+ envelope

Wor6 enve!o+ere$ers to the space ith hich the robot can use its rist

. C1!indrica! Coordinate, *ylindrical con$i"urations uses a vertical column and a slide that moves up and

don the column )he or+ space is approximately a cylinder

c. Po!ar Coordinate, Uses a telescopin" arm that can be loered or raised about a hori#ontal pivot

hich is mounted on a rotatin" base

d. Artic/!ate Coordinate, )his con$i"uration consists o$ to strai"ht components mounted on a vertical

pedestal. rotary ?oint connects one o$ the strai"ht components to the pedestal hile

another ?oins the strai"ht components. rist is attached to the end o$ the second strai"ht component and provides

several additional ?oints

7. Wri,t Rotation a. 8a a2i,

6escribes the rist an"ular movement $rom the le$t side to the ri"ht side

. Pitc9 a2i,

6escribes the rist/s rotational movement up and don

c. Ro!! a2i, 6escribes the rotation around the end o$ the rist

:. Degree, o- Freedo* e$ers to di$$erent axes o$ motion o$ robotic arm

)he movement about one axis is hardare independent o$ movement about

any other axis%

Tota! no. o- !ocation, ; )n

here n @ de"rees o$ $reedom



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Robotics &'- 7

III. CLASSIFICATIONS OF ROBOTS

&. According to Contro! a. Fi2ed0Varia!e Se


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&'(: Robotics

3. According to Progra* =,ed a. Po,itive Sto+

Droduces only 2 position motion

!an"=ban" motion

. Point to Point.bility to move a robot axis to any position ithin its ran"e

c. Contin/o/, Pat9 'i+e point to point

6estination points are very closed to"ether



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Robotics &'- >

TEST 8O=RSELF 14Revie ?/e,tion,1% . robot that has the approximate appearance o$ a human bein"

a% .ndroidb% *ybor"c% 7emicd% Inhumanoid

An,era% .ndroid

2% . short term meanin" a human bein" ith arti$icial limbs or or"ansa% .ndroidb% *ybor"c% 7emicd% Inhumanoid

An,erb% *ybor"

-% )he operational basis $or a machine, computer or mechanism to per$orm some $unction normallyassociated ith human intelli"ence

a% Intelli"enceb% .rti$icial Intelli"encec% noled"ed% euristics

An,er b% .rti$icial Intelli"ence

3% . robot that per$orms tas+s in the homea% ousehold robotb% obomaidc% 6omestic robotd% !uddy obot

An,er c% 6omestic robot


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&'(@ Robotics

a% 5ood pay load capacityb% 'ar"e or+ spaceFrobot si#e ratio

c% Simple point to point control

d. .ll o$ the above

An,erd% .ll o$ the aboveH% S*.. robots are speci$ically desi"ned $or operations%

a% handlin"b% eldin"c% assemblyd% machinin"

An,erc% assembly

8% obot classi$ication is usually based ona% Its manipulators anatomy

b% Its controller desi"nc% Its suitability $or production tas+sd% .ll o$ the above

An,er d% .ll o$ the above

9% hich o$ the $olloin" country maintains the hi"hest ratio o$ robot or+er to human or+era% US.b% Uc% Japand% 5ermany

An,erc% Japan

10% . modern industrial robot is %

a% multi=$unctionalb% servo=controlledc% pro"rammabled% all o$ the above

An,er d% all o$ the above

11% 6* motors and stepper motors are mainly used in robots instead o$ .* motors because theycan

a% !e electronically controlledb% !e operated by electric pulsesc% ithstand lar"e overloadsd% un at varyin" speed

An,erc% ithstand lar"e overloads

12% .ny solid ob?ect has a maximum de"rees o$ $reedom%a% -b% 3c%

Robotics reviewer for electronics

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