UME805 Robotics Engineering Quiz

Study Notes

Manipulator: Series of segments or links for grasping and moving objects, controlled manually or by computer; emphasizes mechanical aspects of robotics.
Arm: Set of interconnected links and powered joints; supports wrist, hand, or end-effector.
Anthropomorphic Robot: A robot with rotary joints mimicking human arm movements.
Articulated Robot: Features at least two consecutive revolute joints; resembles human arm motion and has vertical and horizontal variants.
Axis: Path in three-dimensional space; defined using Cartesian coordinates (X, Y, Z).
Flexible Arm: Capable of mechanical flexibility; may utilize inflatable links.
Chain Robot Arm: Designed as a monoarticulate chain manipulator with a streamlined cross-sectional profile.
Parallel Manipulator: Contains multiple serial chains; offers enhanced accuracy for positioning and object orientation.
Kinematic Chain: Consists of rotary and/or translational joints defining a manipulator's motion.
Mobile Robot: Programmable robot that moves freely in one, two, or three axes, often used in industrial settings.
Control Hierarchy: System that coordinates high-level control elements managing lower-level ones, enabling distributed intelligence.
Cobot: A collaborative robot designed for safe, direct interaction with humans.

Reach and Stroke:
- Horizontal reach is the outer extent of the workspace.
- Stroke is the difference between inner and outer cylinders in cylindrical coordinate robots.
Tool Orientation:
- Determined by three major axes; additional minor axes allow arbitrary orientations.
- Wrist Movements:
  - Wrist Roll: Rotation around arm axis.
  - Wrist Pitch: Up or down rotation (wrist bend).
  - Wrist Yaw: Right or left rotation.

Cylindrical Configuration Robots:
- Offers two linear and one rotary motion; cylindrical work envelope.
- Applications: loading/unloading machines, assembly, coating, die casting.
- Advantages: Larger work volume, space conservation, capable of supporting large payloads.
- Disadvantages: Lower accuracy in rotary direction, sophisticated control system needed.
Polar (Spherical) Configuration Robots:
- One linear and two rotary motions; spherical work envelope.
- Applications: spot welding, heavy load handling, die casting, glass handling.
- Advantages: Larger work envelope than other configurations.
- Disadvantages: Lower repeatability and accuracy, complex control systems required.
Jointed Arm Configuration Robots:
- Three rotary motions around mutually perpendicular axes; mimics human arm.
- Excellent work area to floor area ratio; used for tasks like welding and heavy material handling.
SCARA (Selective Compliance Assembly Arm) Robots:
- Provides one linear and two rotary motions; commonly used for assembly tasks.