7/26/2019 Robotics reviewer for electronics
1/16
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
19
7/26/2019 Robotics reviewer for electronics
2/16
&'() 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$$erent tas+s% )hese multi=purpose machines are "enerally desi"ned to carry out repetitive
$unction and be adapted to other $unctions%
&. Co*+onent, o- a Root a. Act/ator
Serves as the muscle o$ the system, produces the motion ith poer supplied
electrically, pneumatically or hydraulics
. Co**/nicator. unit transmittin" in$ormation and receivin" instructions $rom a remote operator
c. Contro! Co*+/ter0 Contro!!er )he central computer that inte"rates the activity o$ several microprocessors
!rain o$ the robot
d. End e--ector, 6evice at the end o$ the manipulator arm and use to ma+e intentional contact
ith an ob?ect 5ripper, hoo+s, scoops
e. Mani+/!ator echanism consistin" o$ several se"ment or arms
-. Poer S/++!1 5enerally some ener"y stora"e device such as battery $or a mobile unit
otherise hoo+ up to the poer "rid
g. Sen,or Usually a transducer o$ some +ind hose inputs are physical phenomena and
hose outputs consists o$ electronic si"nals
). A2e, Contro!
a. Non Servo Contro! ovement o$ the robots axes is stopped by a hard mechanical stop placed inthe travel path 7on=sel$ correctin" and not=sel$ re"ulatin"
E!"c#r$ni% Macro Integrated Training and Revie Center
7/26/2019 Robotics reviewer for electronics
3/16
Robotics &'- 3
. Servo Contro! )he servo control allos the mechanics o$ the robot to communicate ith the
electronics o$ the controller% >quipped ith $eedbac+ sensors so that controller +nos the exact position o$
the end e$$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$$er the speed
and stren"th o$ a hydraulic drive Used in electronic assembly here precision is required
*lean @no oil lea+s
'oer initial and operatin" cost compared as compared to hydraulic and
pneumatic drive 'ess $orce capability as compared to hydraulic system
'. Root4, Mani+/!ator Ar* 5eo*etr1 a. Carte,ian Coordinate,
Uses three perpendicular slides to construct the A, B and the C axes
Macro Integrated Training and Revie Center E!"c#r$ni%
7/26/2019 Robotics reviewer for electronics
4/16
&'(' Robotics
ectan"ular or+ space or or+ envelope
Wor6 enve!o+ere$ers to the space ith hich the robot can use its rist
. C1!indrica! Coordinate, *ylindrical con$i"urations uses a vertical column and a slide that moves up and
don the column )he or+ space is approximately a cylinder
c. Po!ar Coordinate, Uses a telescopin" arm that can be loered or raised about a hori#ontal pivot
hich is mounted on a rotatin" base
d. Artic/!ate Coordinate, )his con$i"uration consists o$ to strai"ht components mounted on a vertical
pedestal. rotary ?oint connects one o$ the strai"ht components to the pedestal hile
another ?oins the strai"ht components. rist is attached to the end o$ the second strai"ht component and provides
several additional ?oints
7. Wri,t Rotation a. 8a a2i,
6escribes the rist an"ular movement $rom the le$t side to the ri"ht side
. Pitc9 a2i,
6escribes the rist/s rotational movement up and don
c. Ro!! a2i, 6escribes the rotation around the end o$ the rist
:. Degree, o- Freedo* e$ers to di$$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$ $reedom
E!"c#r$ni% Macro Integrated Training and Revie Center
7/26/2019 Robotics reviewer for electronics
5/16
Robotics &'- 7
III. CLASSIFICATIONS OF ROBOTS
&. According to Contro! a. Fi2ed0Varia!e Se
7/26/2019 Robotics reviewer for electronics
6/16
&'(: 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
E!"c#r$ni% Macro Integrated Training and Revie Center
7/26/2019 Robotics reviewer for electronics
7/16
Robotics &'- >
TEST 8O=RSELF 14Revie ?/e,tion,1% . robot that has the approximate appearance o$ 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
7/26/2019 Robotics reviewer for electronics
8/16
&'(@ 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%
Top Related