Robotics

PHIL LOMBOY
Historical Overview of Robot
Development
1801
• Joseph Jacquerd invents a textile
machine that is operated by punch cards
1892
• In the US Seward Babbit designed
motorized crane with gripper to remove
ingots from a furnace
Historical Overview of Robot
Development
1921
• First reference to the word robot appears in a
play opening in London entitled “Rossums
Universal Robots”. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
• Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the “Three Laws of Robotics”
Historical Overview of Robot
Development
1921
• First reference to the word robot appears in a
play opening in London entitled “Rossums
Universal Robots”. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
• Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the “Three Laws of Robotics”
Historical Overview of Robot
Development
1939
• Isaac Asimovs science fiction writing
introduces robots designed for humanity
and work safely. He formulates the
“Three Laws of Robotics”
1946
• George David patents a general purpose
playback device for controlling machines.
Historical Overview of Robot
Development
1948
• Norbert Wiener, a professor of Massachusetts
Institute of Technology(MIT) publishes
Cybernetics, a book that describes the concept
of communications and control in electronic,
mechanical and biological systems.
1951
• A tele-operator equipped articulated arm is
designed by Raymond Goertz for the Atomic
Energy Commisison.
Historical Overview of Robot
Development
1954
• The first programmable robot is designed
by George Devol who coined the term
universal automation. Devol is joined by
Joseph Engelberger in 1956 and shorten
the name to Unimation and form the first
successful robot manufacturing company.
What is a Robot?
• A reprogrammable,
multifunctional manipulator
designed to move parts,
materials, tools or special devices
through variable programmed
motions for the performance of a
variety of different tasks.
• These multi-purpose machines
are generally designed to carry
out repetitive function and be
adapted to other functions.
“Three Laws of Robotics”, Asimov
• A Robot may not injure a human
being,or through inaction,allow a human
being to come to harm
• A robot must obey orders given it by
human beings except where such orders
would conflict with the first law.
• A robot must protect its own existence as
long as such protection does not conflict
with the first and second law.
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
Actuator
• Serves as the muscle of the system, produces the
motion with power supplied electrically,
pneumatically or hydraulics.
Robot’s 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
Robot’s 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
 Robot’s 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

• Shoulder or Vertical Motion

• 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.
Robot’s 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
Robot’s 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
▫ Robot’s 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 robot’s 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 robot’s eye
A.Chain Knuckle
B.Sensor
C.End Effector
D.Chip
QUESTIONS
120. It is considered as the Robot’s 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 Turing’s 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
wrist’s flange of the manipulator’s 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 wrist’s 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 Robot’s 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.Operator’s 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