24-07-2012, 11:42 AM
ROBOT CLASSIFICATION
[attachment=28631]
OBJECTIVES:
BE AWARE OF ROBOT CLASSIFICATION.
BE ACQUAINTED WITH MANIPULATOR ARM GEOMETRY.
UNDERSTAND THE DEGREES OF FREEDOM OF A ROBOTIC SYSTEM.
RECOGNIZE THE TYPE OF POWER SOURCES USED IN CURRENT ROBOTS.
BE FAMILIAR WITH TYPE OF MOTION.
KNOW A ROBOT’S PATH CONTROL.
UNDERSTAND THE INTELLIGENCE LEVEL OF ROBOTS.
CLASSIFICATION: CLASSIFIED INTO SIX CATEGORIES
ARM GEOMETRY: RECTANGULAR;CYLINDIRICAL;SPHERICAL; JOINTED-ARM(VERTICAL);JOINED-ARM(HORIZONTAL).
DEGREES OF FREEDOM: ROBOT ARM; ROBOT WRIST.
POWER SOURCES: ELECTRICAL;PNEUMATIC;HYDRAULIC;ANY COMBINATION.
TYPE OF MOTION: SLEW MOTION; JOINT-INTERPOLATION; STRAIGHT-LINE INTERPOLATION; CIRCULAR INTERPOLATION.
PATH CONTROL: LIMITED SEQUENCE; POINT-TO-POINT; CONTINOUS PATH; CONTROLLED PATH.
INTELLLIGENCE LEVEL: LOW-TECHNOLOGY(NONSERVO); HIGH-TECHONOLOGY(SERVO).
ARM GEOMETRY
ROBOT MUST BE ABLE TO REACH A POINT IN SPACE WITHIN THREE AXES BY MOVING FORWARD AND BACKWARD, TO THE LEFT AND RIGHT, AND UP AND DOWN.
ROBOT MANIPULATOR MAY BE CLASSIFIED ACCORDING TO THE TYPE OF MOVEMENT NEEDED TO COMPLETE THE TASK.
RECTANGULAR-COORDINATED:
- HAS THREE LINEAR AXES OF MOTION.
- X REPRESENTSD LEFT AND RIGHT MOTION
- Y DESCRIBES FORWARD AND BACKWARD MOTION.
- Z IS USED TO DEPICT UP-AND-DOWN MOTION.
THE WORK ENVELOPE OF A RECTANGULAR ROBOT IS A CUBE OR RECTANGLE, SO THAT ANY WORK PERFORMED BY ROBOT MUST ONLY INVOLVE MOTIONS INSIDE THE SPACE.
RECTANGULAR COORDINATES
ADVANTAGES:
THEY CAN OBTAIN LARGE WORK ENVELOPE BECAUSE RAVELLING ALONG THE X-AXIS, THE VOLUME REGION CAN BE INCREASED EASILY.
THEIR LINEAR MOVEMENT ALLOWS FOR SIMPLER CONTROLS.
THEY HAVE HIGH DEGREE OF MECHANICAL RIGIDITY, ACCURACY, AND REPEATABILITY DUE O THEIR STRUCTURE.
THEY CAN CARRY HEAVY LOADS BECAUSE THE WEIGHT-LIFTING CAPACITY DOES NOT VARY AT DIFFERENT LOCATIONS WITHING THE WORK ENVELOPE.
DISADVANTAGES:
THEY MAKES MAINTENANCE MORE DIFFICULT FOR SOME MODELS WITH OVERHEAD DRIVE MECHANISMS AND CONTROL EQUIPMENT.
ACCESS TO THE VOLUME REGION BY OVERHEAD CRANE OR OTHER MATERIAL-HANDLING EQUIPMENT MAY BE IMPAIRED BY THE ROBOT-SUPPORTING STRUCTURE.
THEIR MOVEMENT IS LIMITED TO ONE DIRECTION AT A TIME.
[attachment=28631]
OBJECTIVES:
BE AWARE OF ROBOT CLASSIFICATION.
BE ACQUAINTED WITH MANIPULATOR ARM GEOMETRY.
UNDERSTAND THE DEGREES OF FREEDOM OF A ROBOTIC SYSTEM.
RECOGNIZE THE TYPE OF POWER SOURCES USED IN CURRENT ROBOTS.
BE FAMILIAR WITH TYPE OF MOTION.
KNOW A ROBOT’S PATH CONTROL.
UNDERSTAND THE INTELLIGENCE LEVEL OF ROBOTS.
CLASSIFICATION: CLASSIFIED INTO SIX CATEGORIES
ARM GEOMETRY: RECTANGULAR;CYLINDIRICAL;SPHERICAL; JOINTED-ARM(VERTICAL);JOINED-ARM(HORIZONTAL).
DEGREES OF FREEDOM: ROBOT ARM; ROBOT WRIST.
POWER SOURCES: ELECTRICAL;PNEUMATIC;HYDRAULIC;ANY COMBINATION.
TYPE OF MOTION: SLEW MOTION; JOINT-INTERPOLATION; STRAIGHT-LINE INTERPOLATION; CIRCULAR INTERPOLATION.
PATH CONTROL: LIMITED SEQUENCE; POINT-TO-POINT; CONTINOUS PATH; CONTROLLED PATH.
INTELLLIGENCE LEVEL: LOW-TECHNOLOGY(NONSERVO); HIGH-TECHONOLOGY(SERVO).
ARM GEOMETRY
ROBOT MUST BE ABLE TO REACH A POINT IN SPACE WITHIN THREE AXES BY MOVING FORWARD AND BACKWARD, TO THE LEFT AND RIGHT, AND UP AND DOWN.
ROBOT MANIPULATOR MAY BE CLASSIFIED ACCORDING TO THE TYPE OF MOVEMENT NEEDED TO COMPLETE THE TASK.
RECTANGULAR-COORDINATED:
- HAS THREE LINEAR AXES OF MOTION.
- X REPRESENTSD LEFT AND RIGHT MOTION
- Y DESCRIBES FORWARD AND BACKWARD MOTION.
- Z IS USED TO DEPICT UP-AND-DOWN MOTION.
THE WORK ENVELOPE OF A RECTANGULAR ROBOT IS A CUBE OR RECTANGLE, SO THAT ANY WORK PERFORMED BY ROBOT MUST ONLY INVOLVE MOTIONS INSIDE THE SPACE.
RECTANGULAR COORDINATES
ADVANTAGES:
THEY CAN OBTAIN LARGE WORK ENVELOPE BECAUSE RAVELLING ALONG THE X-AXIS, THE VOLUME REGION CAN BE INCREASED EASILY.
THEIR LINEAR MOVEMENT ALLOWS FOR SIMPLER CONTROLS.
THEY HAVE HIGH DEGREE OF MECHANICAL RIGIDITY, ACCURACY, AND REPEATABILITY DUE O THEIR STRUCTURE.
THEY CAN CARRY HEAVY LOADS BECAUSE THE WEIGHT-LIFTING CAPACITY DOES NOT VARY AT DIFFERENT LOCATIONS WITHING THE WORK ENVELOPE.
DISADVANTAGES:
THEY MAKES MAINTENANCE MORE DIFFICULT FOR SOME MODELS WITH OVERHEAD DRIVE MECHANISMS AND CONTROL EQUIPMENT.
ACCESS TO THE VOLUME REGION BY OVERHEAD CRANE OR OTHER MATERIAL-HANDLING EQUIPMENT MAY BE IMPAIRED BY THE ROBOT-SUPPORTING STRUCTURE.
THEIR MOVEMENT IS LIMITED TO ONE DIRECTION AT A TIME.