PHIL LOMBOY

Components of a robot
Communicator A unit transmitting information and receiving instructions from a remote operator

Components of a robot
Control Computer/Controller (Brain) The central computer that integrates the activity of several microprocessors brain of the robot

Components of a robot
End Effectors (Hands) Device at the end of the manipulator arm that performs the actual work. Gripper, hooks, scoops

Components of a robot
Manipulator (Arm) Mechanism consisting of several segment or arms which provides the necessary motion to move the tool or part into proper position.

Components of a robot
Power Supply Generally some energy storage device such as battery for a mobile unit otherwise hook up to the power grid.

Components of a robot
Sensor (Eye) Usually a transducer of some kind whose inputs are physical phenomena and whose outputs consists of electronic signals.

Components of a robot

Robots Drive Systems/Actuators

Pneumatic Drive Reserved for smaller robots which are limited to simple, fast cycle and pick and place operation. Have two to four degrees of freedom Quick response Lower initial and operating cost than a hydraulic system Accurate positioning and velocity control are impossible (requires mechanical stops) Weak force capability

Robots Drive Systems/Actuators

Hydraulic Drive Used in larger robots Generally heavy and require large floor space and heavy floor loadings Great force capability Great holding strength when stopped (will not sag) Intrinsic safe in flammable environments such as paintings Accurate servo type positioning and velocity control can be achieved Messy-tends to leak oil even in the periods when the robot is not in motion High initial and operating costs

Robots Drive Systems/Actuators

Electric Drive Good for robots in light duty, precision applications but does not offer the speed and strength of a hydraulic drive. Used in electronic assembly where precision is required Clean-no oil leaks Lower initial and operating cost compared as compared to hydraulic and pneumatic drive Less force capability as compared to hydraulic system

Degrees of Freedom
Refers to different axes of motion of robotic arm The movement about one axis is hardware independent of movement about any other axis.

Degrees of Freedom
Total number of locations

P = 2 exp n
where: P number of possible locations n degrees of freedom

Degrees of Freedom
Waist motion or Arm sweep
Motion of the entire arm about the fixed base

Shoulder or Vertical Motion

Movement above the waist

Degrees of Freedom
Elbow extension

Wrist Motion
Pitch up and down Yaw side to side Roll - \rotation of the wrist about the axis of the forearm

Robots Wrist Rotation

Pitch Axis Describes the wrists rotational movement up and down

Robots Wrist Rotation

Yaw Axis Describes the wrist angular movement from the left side to the right side.

Robots Wrist Rotation

Roll Axis Describes the rotation around the end of the wrist.

Robots Axes Control

Non-Servo Control Movement of the robots axes is stopped by a hard mechanical stop placed in the travel path Non-self correcting and not-self regulating

Robots Axes Control

Servo Control The servo control allows the mechanics of the robot to communicate with the electronics of the controller Equipped with the feedback sensors so that the controllers knows the exact position of the end effector at all times Self correcting and self regulating

CLASSIFICATION OF ROBOTS
According to Control Fixed/Variable Sequence
Pick and place robots Point to point movement

CLASSIFICATION OF ROBOTS
According to Control Playback Robot
Robots that memorizes and records the path and sequence of motions and can repeat them continuously without the guidance from the operator.

CLASSIFICATION OF ROBOTS
According to Control Numerically Controlled Robot
Programmed and operated much like a numerically controlled machine. Numerically Controlled Robot Servo-controlled by digital data

CLASSIFICATION OF ROBOTS
According to Control Intelligent (Sensory) Robot
Equipped with a variety of sensors with visual and tactile capabilities. Controlled by powerful computers

Robots Manipulator Arm Geometry

Work Envelope refers to the space with which the robot can use its wrist.

Robots Manipulator Arm Geometry

Cartesian Coordinates uses three perpendicular slides to construct the X,Y and the Z axes Rectangular work space or work envelope.

Robots Manipulator Arm Geometry

Cylindrical Coordinates Cylindrical configurations uses a vertical column and a slide that moves up and down the column The work space is approximately a cylinder

Robots Manipulator Arm Geometry

Polar Coordinates Uses a telescoping arm that can be lowered or raised about a horizontal pivot which is mounted on a rotating base.

Robots Manipulator Arm Geometry

Articulate Coordinates This configuration consists of two straight components mounted on a vertical pedestal. A rotary joint connects one of the straight components to the pedestal while another joins the straight components. A wrist is attached to the end of the straight component and provides several additional joints.

CLASSIFICATION OF ROBOTS
According to Movement Rectilinear / Cartesian
Works with Cartesian manipulator arm geometry Movement is three directions only up/down, left/right, front/back.

CLASSIFICATION OF ROBOTS
According to Movement Cylindrical Robot
Robot whose work envelope is cylindrical Robots arm swings around its base in circular or polar motion. (up and down, front end)

CLASSIFICATION OF ROBOTS
According to Movement Spherical Robot
Robot whose work envelope is spherical in shape and obviously is has spherical manipulator arm geometry. With polar articulation for waist and shoulder and rectilinear motion for reach. The base moves in circular motion (up to 210 degrees) while its main arm moves up and down and in and out (extension and retraction)

CLASSIFICATION OF ROBOTS
According to Movement Spherical Robot

CLASSIFICATION OF ROBOTS
According to Movement Fully Articulated Robot

CLASSIFICATION OF ROBOTS
According to Movement Fully Articulated Robot
Robot with polar articulation for all degrees of movement One example is the SCARA (Selective Compliance Assembly Robotic Arm) which has six axes therefore increases its degrees of freedom. Used in welding, painting, laser cutting and water jet cutting.

CLASSIFICATION OF ROBOTS
According To Program Used Positive Stop
Produces only 2 position motion Limited sequence or Bang bang motion

CLASSIFICATION OF ROBOTS
According To Program Used Point to Point
Ability to move a robot axis to any position within its range

CLASSIFICATION OF ROBOTS
According To Program Used Continuous Path
Like point to point Destination points are very closed together.

SELECTION OF ROBOTS
Work Volume Speed and acceleration Repeatability Resolution Accuracy Economics Safety

MODERN USES OF ROBOTS

Exploration
Full of danger or deep ocean

Industry
Repetitive Work

Medicine
Operation (making medicines)

Military and Police

Bomb disposal, spying, entering enemy bases

Entertainment

SCARA ROBOT
Selective Compliant Articulated Robot Arm Assembly
4-axis robot with rotating elements that move in a single plane. Similar to a shoulder-elbow-wrist combination movement with the addition of an up-down component

SCARA ROBOT
Selective Compliant Assembly Robot Arm Applications
Assembly Packaging Sorting Screw driving

QUESTIONS
111. A user-program that has the ability to move a robot axis to any position within its range A.Pick-to-place B.Point-to-point C.Positive stop D.Continuous stop

QUESTIONS
112. It is a robot which is capable of decision making and has memory A.Pick and place manipulator B.Voltes V C.Intelligent Robot D.Roborat

QUESTIONS
113.The total weight that a robot arm can carry A.Burden Capacity B.Payload C.Gripper D.Power

QUESTIONS
114. It is considered as the robots hand A.Chain Knuckle B.Sensor C.End Effector D.Chip

QUESTIONS
115. One advantage of hydraulic actuator type of an industrial robot is_____ A.Intrinsically safe in flammable environment such as painting B.Clean no oil leaks C.Lowest Operating Cost D.Lowest Initial Cost

QUESTIONS
116. The ______ are two of the most common mechanical configurations of industrial robots A.Spherical and pneumatic B.Articulated arm and cylindrical C.Spherical and hydraulic D.Jointed-arm and electric

QUESTIONS
117. _____includes two of the actuator types used in industrial robots A.Pneumatic and Jointed-arm B.Hydraulic and Pneumatic C.Electric and Spherical D.Hydraulic and Cylindrical

QUESTIONS
118. What is the reason why pneumatic robot actuators have lesser capabilities than electric or hydraulic robot actuators? A.It has quick response B.It always has all or nothing motion C.It has low initial cost D.It has high initial cost

QUESTIONS
119. It is considered as the robots eye A.Chain Knuckle B.Sensor C.End Effector D.Chip

QUESTIONS
120. It is considered as the Robots brain A.Chain Knuckle B.Sensor C.End Effector D.Controller

QUESTIONS
121. A movement of the wrist of the robot pivoting around the vertical axis running from top to bottom A.Yaw B.Roll C.Pitch D.Slide

QUESTIONS
122. A robot that has the approximate appearance of a human being A.Android B.Cyborg C.Nemic D.Inhumanoid

QUESTIONS
123. A short term meaning a human being with artificial limbs or organs A.Android B.Cyborg C.Nemic D.Inhumanoid

QUESTIONS
124. The operational basis for a machine, computer or mechanism to perform some function normally associated with human intelligence A.Intelligence B.Artificial Intelligence C.Knowledge D.Heuristics

QUESTIONS
125. A robot that performs tasks in the home A.Household robot B.Robomaid C.Domestic robot D.Buddy robot

QUESTIONS
126. A program written by Joseph Weizenbaun to meet Turings definition of artificial intelligence A.MACBETH B.ELIZA C.AMJ D.PARALLAX

QUESTIONS
127. The desirable characteristic for handling the robots are A.Good pay load capacity B.Large work space/robot size ration C.Simple point to point control D.All of the above

QUESTIONS
128. SCARA robots are specifically designed for _________ operations A.Handling B.Welding C.Assembly D.Machining

QUESTIONS
129. Robot classification is usually based on A.Its manipulating anatomy B.Its controller design C.Its suitable for production tasks D.All of the above

QUESTIONS
130. Which of the following country maintains the highest ratio of robot worker to human worker? A.USA B.UK C.Japan D.Germany

QUESTIONS
131. A modern industrial robot is _______ multi-functional A.Servo-controlled B.Programmable C.Has great degree of freedom D.All of the above

QUESTIONS
132. Any solid object has a maximum ______ degrees of freedom A.3 B.4 C.5 D.6

QUESTIONS
133. Programming of a continuous path robot is normally carried out by a method called _____ through A.Lead B.Drive C.Walk D.Run

QUESTIONS
134. The Essential features of a non-servo controlled robot is that A.It requires programming logic controller B.Each of its axis can move only between hardware stops C.It is small D.It is used for heavy loads

QUESTIONS
135. The word Robot was coined by A.Kondratieff B.Karel Capek C.Cyril Walter Kenward D.Phil Lomboy

QUESTIONS
136. ________ robot is primarily used for machining processes A.Cincinatti T3 B.DEA PRAMA C.ADEPT One D.Jolly 80

QUESTIONS
137. Serves as the muscle of the system, produces the motion with power supplied electrically, pneumatically or hydraulically. A.Communicator B.Control Computer C.Actuator D.Manipulator

QUESTIONS
138. The arm assembly of the robot A.End effector B.Manipulator C.Actuator D.Controller

QUESTIONS
139. __________is a device connected to the wrists flange of the manipulators arm. It is used in many different situations in the production area A.End effector B.Manipulator C.Actuator D.Controller

QUESTIONS
140. Refers to the movement of the base of the robot A.Actuation B.Walk C.Travel D.Precission

QUESTIONS
141. What is the other name for the axes found on the manipulator? A.Appendage B.Cycle time C.Degrees of freedom D.Actuator

QUESTIONS
142. Describes the wrists angular movement from the left side to the right side A.Pitch B.Roll C.Rotation D.Yaw

QUESTIONS
143. It is a high level computer language developed by Robotronic Corporation to make commanding a personal robot easier. A.Androtext B.ARMBASIC C.AML D.HELP

QUESTIONS
144. It is considered as the Robots brain A.Chain knuckle B.Sensor C.End effector D.Controller

QUESTIONS
145. This is used to program and teach positional information for the manipulator A.Operators panel B.Computer control C.Manual data input panel D.Teach pendant

QUESTIONS
146. It is a robot software that produces only two position motion A.Pick and stop programs B.Point to point programs C.Continuous path program D.Positive stop programs

QUESTIONS
147. A user program that has ability to move a robot axis to any position within its range A.Pick and place B.Point to point C.Positive stop D.Continuous path

QUESTIONS
148. What are the basic categories of industrial robot? A.Fast and slow B.Mechanical and electrical C.Autobots and decepticons D.Pick and place manipulator and intelligent robot

QUESTIONS
149. It is a robot which is capable of decision making and has memory A.Pick and place B.Expert robot C.Continuous robot D.Intelligent robot

QUESTIONS
150. It is a robot structure wherein the body can pivot vertically and horizontally and the arm moves radially A.Polar structure B.Pivotal C.Cylindrical structure D.Roborat

QUESTIONS
151. The total weight that a robot arm can carry A.Burden capacity B.Payload C.Gripper D.Power

QUESTIONS
152. Which is not the usual power source that steers the arm of the robot? A.Thermionic B.Hydraulic C.Pneumatic D.Electric

QUESTIONS
152. The ______ are two of the most common mechanical configurations of industrial robots A.Spherical and pneumatic B.Articulated arm and cylindrical C.Spherical and hydraulic D.Jointed-arm and electric

QUESTIONS
153. A system in which the precise movement of a large load is controlled by a relatively weak signal A.Hydraulic B.Electro C.Synchro D.Servo

QUESTIONS
154. A limited robot sequence is______ A.pick and place B.Point to point C.Continuous path D.Robots

QUESTIONS
155. The first patent for an industrial robot was developed in 1954 by______ A.Asimov B.Maniko C.Devol D.Hitachi

QUESTIONS
156. The operational space of a robot is _____ A.Coordinate system B.Dead zone C.Degrees of freedom D.Work envelope

QUESTIONS
157. The individual sections of the robot arm between the joints are____ A.Arms B.Branches C.Links D.Axes

QUESTIONS
158. The control system for spot welding is A..Point to point B.Pick and place C.Continuous path D.Point to multi-point

QUESTIONS
159. __________ is a type of actuator of industrial robots that has great force capability and great holding strength when stopped A.Pneumatic B.Steam C.Hydraulic D.Electric

QUESTIONS
160. ________ a professor at MIT publishes cybernetics, a book which describes the concept of communications and control in electronic, mechanical and biological systems. A.Williard Polard B.Seward Babbit C.John Mauchly D.Norber Wiener

QUESTIONS
161. Stanford Research Institute (SRI) built and tested a mobile robot with vision capability is called ____ A.Unimate B.Universal Automation C.Cybernetics D.Shakey

QUESTIONS
162. Riochard Hohn for Cincinnati Milacron Corporation develops the first commercially available minicomputer controlled industrial robot. The robot is called the ______the Tomorrow Tool A.T3 B.Universal Automation C.Versatran D.Shakey

QUESTIONS
163. Joseph Engelberger starts Transition Robotics, later named ______ to develop service robots. A.Helpmates B.Playmates C.Classmates D.Servicemates

QUESTIONS
164. The ability of a robot to produce meaningful speech output A.Speech Synthesis B.Speech Detection C.Speech Refinement D.Speech Recognition

QUESTIONS
165. The length of time in years required for a robot to pay for itself through the savings it provides A.Propagation period B.Delay period C.Payload period D.Payback period

THE END
HAPPY REVIEW!!

By:Mark Jolly R. Omadto