Questions and Answers
What is the primary function of a robot manipulator?
Which of the following describes an anthropomorphic robot?
What type of robot arm is characterized by having at least two consecutive revolute joints?
When referring to a robot arm, what does the term 'dof' stand for?
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Which of the following is NOT a basic design specification of robots?
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What does the X axis in a Cartesian coordinate system represent?
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Which type of robot arm is designed specifically as a monoarticulate chain manipulator?
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In the context of robot manipulators, what is defined as the 'Joint Space'?
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How do parallel manipulators generally compare to open-chain manipulators?
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What is a 'Cobot' primarily designed for?
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Study Notes
Standard Terminologies
- 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.
Design Specifications of Robot
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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.
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Tool Orientation:
- Determined by three major axes; additional minor axes allow arbitrary orientations.
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Wrist Movements:
- Wrist Roll: Rotation around arm axis.
- Wrist Pitch: Up or down rotation (wrist bend).
- Wrist Yaw: Right or left rotation.
Configurations of Robot
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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.
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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.
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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.
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SCARA (Selective Compliance Assembly Arm) Robots:
- Provides one linear and two rotary motions; commonly used for assembly tasks.
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Description
Test your knowledge on standard terminologies, joint configurations, and classifications in robotics. This quiz covers essential concepts that are crucial for understanding the fundamentals of robotics engineering. Perfect for students and enthusiasts looking to deepen their understanding of the field!
