Robotics Week 1: Introduction to Robots

Questions and Answers

What does Grubler's criterion determine in the context of manipulators?

The maximum number of rigid links possible.

The total weight supported by a manipulator.

The optimal design of a manipulator.

The mobility of the manipulator. (correct)

In Grubler’s criterion, what does the variable 'C_i' represent?

Total number of constraints.

Connectivity of the i-th joint. (correct)

Number of joints in the manipulator.

Total number of links in the manipulator.

How is the total number of constraints calculated in the context of a manipulator?

By summing the connectivity of all joints.

By summing the degrees of freedom of each rigid link.

By summing 3 minus the connectivity of each joint. (correct)

By multiplying the number of links by the number of joints.

If a manipulator has 4 links and each joint reduces connectivity differently, what is the formula for mobility?

$3n - \sum_{i=1}^{m}(3 - C_i)$ Signup and view all the answers

What is the effect of increasing the number of joints on the mobility of a manipulator?

It can decrease mobility depending on the connectivity of joints. Signup and view all the answers

What constraints are subtracted from the constant in the mobility equation for planar manipulators?

The connectivity of the joints involved. Signup and view all the answers

What is the formula for determining the mobility of a serial planar manipulator with 4 degrees of freedom and 4 joints?

$M = 3n - m - C_i$ Signup and view all the answers

For a parallel planar manipulator with 7 degrees of freedom, how is the mobility calculated?

$M = 3n - m - C_i$ Signup and view all the answers

What type of robot includes examples like Unimate 2000 and T3?

Point-to-point robots Signup and view all the answers

Which description fits Continuous Path Robots?

They follow a precise path defined by the user. Signup and view all the answers

If a manipulator has $C_i=1$ for all joints, what is its mobility when $n=4$ and $m=4$?

4 Signup and view all the answers

Which factor is NOT relevant in determining the mobility of a manipulator?

The weight of the manipulator Signup and view all the answers

In robot classification, which of the following is specific for tasks performed by robots?

Point-to-Point Signup and view all the answers

What is a robot according to the Oxford English Dictionary?

A machine capable of carrying out a complex series of actions automatically. Signup and view all the answers

Who is credited with coining the term 'robotics'?

Isaac Asimov Signup and view all the answers

Which of the following is NOT considered a fundamental aspect of robotics?

Chemistry Signup and view all the answers

What is the main purpose of using automation in modern manufacturing?

To reduce production costs and increase productivity. Signup and view all the answers

Which robot was developed by Honda in the year 2000?

Asimo Signup and view all the answers

What does the '3 Hs' in robotics refer to?

Head, Hands, and Heart Signup and view all the answers

Which company started the first robotics company?

Unimation Signup and view all the answers

In which year was the first patent for a manipulator filed?

1954 Signup and view all the answers

What is the primary function of the end-effector in a robotic system?

To perform tasks such as gripping or manipulating objects. Signup and view all the answers

Which robotic development was aimed at exploring the surface of Mars?

Spirit and Opportunity Signup and view all the answers

What is the definition of the workspace of manipulators?

The volume of space that the end-effector of a manipulator can reach. Signup and view all the answers

Which type of workspace allows for various orientations of the end-effector?

Dextrous Workspace Signup and view all the answers

How does dextrous workspace relate to reachable workspace?

Dextrous workspace is a subset of reachable workspace. Signup and view all the answers

Which coordinate system's workspace is defined by its cylindrical shape?

Cylindrical Coordinate Robot Signup and view all the answers

What characterizes the reachable workspace in comparison to dextrous workspace?

It restricts to one orientation. Signup and view all the answers

Which of the following statements is true regarding the workspaces of robots?

Different robot types can have different workspace profiles. Signup and view all the answers

Which type of robot workspace would typically have both height and depth variations?

Workspace of Spherical Coordinate Robot Signup and view all the answers

What is implied about the end-effector movement in a dextrous workspace?

It can perform tasks requiring multiple orientations. Signup and view all the answers

What best describes the concept of Degrees of Freedom (dof) in a system?

The number of independent parameters required to fully describe a system Signup and view all the answers

Which joint type possesses only one degree of freedom (dof)?

Revolute Joint (R) Signup and view all the answers

A manipulator that has more degrees of freedom than necessary is termed what?

Redundant Manipulator Signup and view all the answers

What do spherical joints allow in terms of movement?

Multi-directional rotational movement Signup and view all the answers

In a 3D space, how many degrees of freedom (dof) does a rigid body possess?

6 dof Signup and view all the answers

Which of the following statements accurately describes Kinematics?

It deals with the motion of bodies without considering forces. Signup and view all the answers

What function does the field of Artificial Intelligence serve in robotics?

It designs and develops a suitable brain for robots. Signup and view all the answers

Which joint allows for both rotational and translational movement in a manipulator?

Cylindrical Joint (C) Signup and view all the answers

What differentiates an Under-actuated Manipulator from a Redundant Manipulator?

Under-actuated has less than the necessary dof, while Redundant has excess dof. Signup and view all the answers

How many degrees of freedom does a planar manipulator typically have?

3 dof Signup and view all the answers

Study Notes

Introduction to Robots and Robotics

"Robot" stems from the Czech word "robota," meaning forced labor.
First use in 1921 by Karel Capek in the play "Rossum’s Universal Robots."
Robots resemble humans but are machines capable of complex actions.

Definitions of a Robot

Oxford English Dictionary: A programmable machine executing complex actions automatically.
ISO: A reprogrammable manipulator controlled automatically, usable in industrial applications.
RIA: A multi-functional manipulator designed for variable task-oriented motions.

Understanding Robotics

Robotics is the science of robot design, manufacture, and applications.
Coined by Isaac Asimov in 1942 in his story "Runaround."
Involves disciplines including physics, mathematics, mechanical engineering, and computer science.

Three Fundamental Concepts in Robotics

Hand: Represents manipulation capabilities.
Head: Represents decision-making and processing capabilities.
Heart: Reflects emotional intelligence and empathy in robots.

Motivation for Studying Robotics

Robotics aims to enhance manufacturing efficiency through automation.
Goals include reducing production cost, boosting productivity, and improving product quality.
Robotics is categorized as flexible automation, allowing adaptation to dynamic markets.

Historical Milestones in Robotics

1954: George Devol patents the first manipulator.
1956: Joseph Engelberger establishes Unimation, the first robotics company.
1962: General Motors utilizes Unimate for industrial applications.

Notable Developments in Robotics Through the Years

1967: General Electric creates a four-legged vehicle.
1969: NASA develops SAM and Shakey, intelligent mobile robots.
2000: Honda introduces Asimo, a humanoid robot.
2015: Sophia, a humanoid robot, is developed by Hanson Robotics.

Components of a Robotic System

Base, links and joints, end-effector, wrist, actuator, controller, and sensors.

Interdisciplinary Areas in Robotics

Mechanical Engineering: Focus on kinematics and dynamics.
Computer Science: Engages in motion planning and artificial intelligence.
Electrical/Electronics Engineering: Develops control schemes and hardware.

Degrees of Freedom (DoF) in Robotics

Refers to the number of rigid bodies connected through a joint.
Joints with one DoF: Revolute and Prismatic joints.
Joints with two DoF: Cylindrical and Hooke (Universal) joints.
Joints with three DoF: Spherical joints.

Mobility of Manipulators

Defined by Grubler’s criterion based on the number of links and joints.
Spatial manipulators typically have 6 DoF; planar manipulators generally have 3 DoF.

Types of Manipulators

Redundant manipulators have more than the required DoF for operations.
Under-actuated manipulators have fewer DoF than necessary.

Classification of Robots

By tasks performed:
- Point-to-Point Robots (e.g., Unimate 2000, T3).
- Continuous Path Robots (e.g., PUMA, CRS).
By controllers:
- Mobile robots (e.g., wheeled and six-legged robots).

Workspace in Robotics

The workspace is the volume accessible to the manipulator's end-effector.
Dextrous workspace allows for different orientations of the end-effector; reachable workspace pertains to a single orientation.

Examples of Robot Workspaces

Cartesian, cylindrical, spherical, and revolute coordinate robots each have specific workspace designs and capabilities.

Studying That Suits You

Use AI to generate personalized quizzes and flashcards to suit your learning preferences.

Description

Dive into the fascinating world of robotics with this quiz based on the first week of your course. Explore the fundamental concepts introduced by Prof. Dr. Dilip Kumar Pratihar at IIT Kharagpur. Test your understanding of the basics of robots and robotics to kickstart your journey in mechanical engineering.