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Questions and Answers
What is robotics?
Robotics is an applied science that utilizes knowledge from multiple disciplines to analyze and design robots.
Which year was the first programmable robot developed?
Which of these is NOT a type of robot mentioned?
Autonomous vehicles are a type of mobile robot.
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What is an end effector?
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Which drive system is generally associated with larger robots?
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The robot's physical construction, including its body, arm, and wrist, is referred to as its ______.
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Match the following robots with their primary use:
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What are the three phases in the sequence of operations for a robot?
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A robot's degrees of freedom refer to the types of sensors it has.
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What type of robot uses cameras and lasers for navigation?
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Which of the following are methods for holding an object using a mechanical gripper?
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What is the purpose of the g factor in gripper force calculations?
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Mechanical grippers always require a complex hydraulic system to operate.
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What type of sensor detects the presence of humans in a robot cell for safety monitoring?
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The mechanism used to help a gripper hold an object using suction forces is called __________.
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What does an encoder measure in a robot's movement?
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Which of the following are types of sensors classified by their medium?
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What type of actuation uses a cam-and-follower arrangement for the gripper?
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An example of a tool that might be used as an end effector by a robot is a __________.
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What are two types of movement mechanisms used by mechanical grippers?
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What is the primary function of sensors in robotics?
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Active sensors only record signals that are already present in the environment.
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Study Notes
Gripping Mechanisms
- Impactive grippers use jaws or claws for direct impact gripping.
- Ingressive grippers employ pins or needles to penetrate surfaces, commonly used in textile and fiber handling.
- Astrictive grippers utilize suction forces such as vacuum or magnetic adhesion for grip.
- Contigutive grippers require direct contact using glue, surface tension, or freezing for adhesion.
Mechanical Grippers
- Mechanical grippers are robot end effectors with mechanically operated fingers for object grasping.
- Two fingers typically suffice for industrial holding tasks; fingers are often replaceable.
- Input power for grippers is generated through hydraulic, electric, or pneumatic systems.
- Object holding can be achieved using finger pads tailored to the object's shape or soft material pads to prevent scratches and improve friction.
Gripper Force Calculation
- Determining necessary gripper force can be influenced by the weight of the object and the coefficient of friction.
- A gripper supporting a 10lb carton with a friction coefficient of 0.25 requires a computed force of 60lb based on acceleration factors.
Types of Finger Movement
- Mechanical grippers can initiate finger movement via:
- Pivoting movement
- Linear or translational movement
Actuation Mechanisms
- Linkage actuation: varies design possibilities for gripping force conversion and speed of operation.
- Gear and rack actuation: involves linear motion from a piston driving pinion gears.
- Cam actuation: utilizes a cam-and-follower system often levered by springs.
- Screw actuation: involves a motor-driven screw and threaded block mechanism for operation.
- Rope-and-pulley actuation: opens and closes grippers using tension devices.
- Miscellaneous: for mechanisms that do not fit existing categories.
Robot Tools
- Tools integrated with robots serve processing functions on work parts, including:
- Spot welding guns
- Arc welding tools
- Spray painting guns
- Rotating spindles for machining tasks
- Assembly tools like automatic screwdrivers
- Heating torches and water-jet cutters
End Effector and Robot Interface
- End effectors require physical support, power supply, and control signals through the robot interface.
- Feedback signals may need transmission from the end effector to the robot controller.
- Key design objectives include reliability, environmental protection, and overload prevention.
Sensing in Robotics
- Robots classify machines based on sensing, planning, and action capabilities.
- Sensing involves collecting data about the environment using sensors that convert energy forms, known as transducers.
Sensor Uses and Types
- Various sensors assist in:
- Localization of the robot
- Monitoring limb angles
- Detecting obstacles
- Autonomous harvesting and material handling
- Face detection and tracking
- Types of sensors include active (radar, sonar) and passive (cameras), as well as exteroceptive and proprioceptive sensors.
Sensor Properties
- Key characteristics of sensors include:
- Sensitivity, linearity, response time, measurement range, accuracy, repeatability, resolution, and bandwidth.
- Available sensors include touch, tilt, bend, light, and temperature sensors, as well as encoders and laser rangefinders.
Electrical Concepts
- Ohm’s Law relates voltage, current, and resistance in circuits.
- Resistance affects the flow of electricity analogous to water flow in pipes.
Grip and Force Analysis
- Lever arm mechanics help determine the necessary actuating force to achieve desired grip strength.
Sensor Placement and Choice
- Smart placement of sensors optimizes their effectiveness for tasks like mappings.
- Selection factors include precision, cost, and required information.
Safety Monitoring Systems
- Designing safety systems for robots involves functional specifications, selecting appropriate sensors, and justifying sensor choices for effective human detection in work environments.### Robotics Overview
- Robotics combines knowledge from multiple disciplines for robot design and analysis.
- Mechanical engineering is crucial for creating mechanisms that enable robotic motion.
Key Historical Milestones
- 1922: Karel Čapek's "Rossum's Universal Robots" introduced the term "robot" (derived from "rabota," meaning worker).
- 1954: George Devol developed the first programmable robot.
- 1962: Unimation was founded; the first industrial robots debuted.
- 1973: Cincinnati Milacron introduced the T3 model, popularizing industrial automation.
Definition and Types of Robots
- Robots are reprogrammable manipulators for moving materials and performing tasks. Degrees of freedom indicate a robot's ability to move within its environment.
- Types include:
- Mobile Robots: Move freely; can be indoor, outdoor, or terrain-specific.
- Robotic Arms: Stationary manipulators, often used in construction, lacking AI capabilities.
- Autonomous Vehicles: Self-driving; includes cars, drones, submarines, etc.
- Soft Robots: Use soft computing for flexibility in tasks.
- Mimicking Robots: Learn through imitation; designed to perform social tasks.
- Softbots: Software agents with degrees of freedom.
- Nanobots: Theoretical robots for microscopic environments, such as the human body.
Current Uses of Robots
- Over 3.5 million robots in use, with 1 million being industrial robots.
- Applications include:
- Mechanical production (welding, painting).
- Packaging (food, drinks, medication).
- Electronics assembly (placing chips on circuit boards).
- Automated guided vehicles in hospitals and factories.
- Specialized tasks like bomb disposal, exploration, cleaning, and fruit harvesting.
Robot Functionality
- Robots operate through a three-phase process: sensing, processing, and action.
- They utilize sensors for environment interaction, including obstacle avoidance and navigation.
Sensor Interpretation and Obstacle Avoidance
- Sensors ensure path adherence and obstacle detection.
- Common sensor technologies include cameras, GPS, sonar, and lasers for real-time interpretation.
- Behavior when obstacles are detected varies by robot type: stopping, rerouting, or changing depth/altitude.
Mission and Path Planning
- Mission planning dictates how to achieve a robot's goals through structured planning and environmental understanding.
- Path planning includes geometric considerations and navigational strategies, often employing algorithms like A* for optimal routing.
Robot Anatomy and Configurations
- The anatomy consists of body, arm, wrist, and end effector (tool).
- Common robot configurations:
- Polar: Spherical movements with telescoping arms.
- Cylindrical: Vertical columns allowing radial movement.
- Cartesian: Three orthogonal slides, operates in a rectangular space.
- Articulated/Jointed-arm: Mimics human arm movement, with high degrees of flexibility.
Drive Systems
- Types of drive systems include:
- Hydraulic: High strength and speed but require more space and are prone to leaks.
- Electric: High precision, suitable for smaller robots.
- Pneumatic: Ideal for smaller robots with fast cycles; less load capacity.
Speed and Load Capacity
- Industrial robots can operate up to 500 degrees per second with minimal cycle times (e.g., 0.8 seconds).
- Load capacity varies greatly; smaller robots can handle under a kilogram, whereas large robots can manage up to 2000 pounds.
Control Systems
- Control systems enable robots to accurately carry out tasks through feedback loops and intelligent programming.
- Types of robot controls include:
- Limited-sequence robots without complex programming.
- Playback robots that repeat a pre-taught sequence of motions.
Precision and Compliance
- Key performance measures include spatial resolution (smallest movement increments), accuracy (ability to reach desired points), repeatability (consistent positioning), and compliance (response to external forces).
End Effectors
- End effectors are tools attached to the robot's wrist, allowing for task-specific functions.
- Types of end effectors include grippers and specialized tools, designed for flexibility in handling various materials.
Conclusion
- Robotics integrates mechanics and computing to enhance productivity across various industries, with ongoing advancements leading to increased autonomy and capabilities.
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Description
This quiz covers the foundational concepts of robotics, including its definitions and the historical context leading to its development. Key milestones, like Karel Capek's introduction of the term 'robots' in 1922, will be examined along with the role of mechanical engineering in robotics design.
