Robotics Reviewer For Electronics

ROBOTICS

DryCell

I. HISTORICAL OVERVIEW OF ROBOT DEVELOPMENT 1801  Joseph Jacquard invents a textile machine that is operated by punch cards 1892  In the US, Seward Babbit designed motorized crane with gripper to ingots from a furnace.

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1921  First reference to the word robot appears in a play opening in London entitled “Rossum’s 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 Asimov’s science fiction writing introduces robots designed for humanity and work safely. He formulate the “Three Laws of Robotics” 1946  George Devol patents a general purpose playback device for controlling machines 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 Commission 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

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II. ROBOTS  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. 1. Components of a Robot a. Actuator  Serves as the muscle of the system, produces the motion with power supplied electrically, pneumatically or hydraulics b. Communicator  A unit transmitting information and receiving instructions from a remote operator c. Control Computer/ Controller  The central computer that integrates the activity of several microprocessors  Brain of the robot d. End effectors  Device at the end of the manipulator arm and use to make intentional contact with an object  Gripper, hooks, scoops e. Manipulator  Mechanism consisting of several segment or arms f. Power Supply  Generally some energy storage device such as battery for a mobile unit otherwise hook up to the power grid g. Sensor  Usually a transducer of some kind whose inputs are physical phenomena and whose outputs consists of electronic signals 2. Axes Control a. 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

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b. Servo Control  The servo control allows the mechanics of the robot to communicate with the electronics of the controller.  Equipped with feedback sensors so that controller knows the exact position of the end effector at all times  self correcting and self regulating 3. Drive Systems / Actuations a. Pneumatic Drive  reserved for smaller robots which are limited to simple, fast cycle and pick 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 b. 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 cost c. 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

4. Robot’s Manipulator Arm Geometry a. Cartesian Coordinates  Uses three perpendicular slides to construct the X, Y and the Z axes Macro Integrated Training and Review Center

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 Rectangular work space or work envelope  Work envelope refers to the space with which the robot can use its wrist b. 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 c. Polar Coordinates  Uses a telescoping arm that can be lowered or raised about a horizontal pivot which is mounted on a rotating base d. 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 second straight component and provides several additional joints

5. Wrist Rotation a. Yaw axis  Describes the wrist angular movement from the left side to the right side b. Pitch axis  Describes the wrist’s rotational movement up and down c. Roll axis  Describes the rotation around the end of the wrist

6. 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. Total no. of locations = 2n Where n – degrees of freedom

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III. CLASSIFICATIONS OF ROBOTS 1. According to Control a. Fixed/Variable Sequence  Pick and place robots  Point to point movement b. Playback Robot  Robots that memorizes the path and sequence of motion c. Numerically Controlled Robot  Servo-controlled by digital data d. Intelligent Robot  Equipped with a variety of sensors

2. According to Movement a. Rectilinear /Cartesian  Works with Cartesian manipulator arm geometry  Movement is three direction only: up/down, left/right and front/back b. Cylindrical Robot  Robot whose work envelope is cylindrical  Robot’s arm swings around its base with up and down motion c. Spherical Robot  Robot whose work envelope is spherical in shape and obviously it 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) d. Fully Articulated Robot  Robot with polar articulation for all degrees of movement  One example is the SCARA(Selective Complaint Assembly Robot Arm) which has six axes therefore increases its degrees of freedom  Used in welding, painting, laser cutting and water jet cutting Macro Integrated Training and Review Center

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3. According to Program Used a. Positive Stop  Produces only 2 position motion  Bang-bang motion

b. Point to Point  Ability to move a robot axis to any position within its range

c. Continuous Path  Like point to point  Destination points are very closed together

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TEST YOURSELF 14 Review Questions 1. A robot that has the approximate appearance of a human being a. Android b. Cyborg c. Nemic d. Inhumanoid Answer a. Android 2. A short term meaning a human being with artificial limbs or organs a. Android b. Cyborg c. Nemic d. Inhumanoid Answer b. Cyborg 3. 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 Answer b. Artificial Intelligence 4. A robot that performs tasks in the home a. Household robot b. Robomaid c. Domestic robot d. Buddy Robot Answer c. Domestic robot 5. A program written by Joseph Weizenbaun to meet Turing’s definition of artificial intelligence. a. MACBETH b. ELIZA c. AMJ d. PARALLAX Answer b. ELIZA 6. The desirable characteristics for handling the robots are Macro Integrated Training and Review Center

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a. Good pay load capacity b. Large work space/robot size ratio c. Simple point to point control d. All of the above Answer d. All of the above 7. SCARA robots are specifically designed for ______operations. a. handling b. welding c. assembly d. machining Answer c. assembly 8. Robot classification is usually based on a. Its manipulators anatomy b. Its controller design c. Its suitability for production tasks d. All of the above Answer d. All of the above 9. Which of the following country maintains the highest ratio of robot worker to human worker? a. USA b. UK c. Japan d. Germany Answer c. Japan 10. A modern industrial robot is _______. a. multi-functional b. servo-controlled c. programmable d. all of the above Answer d. all of the above 11. DC motors and stepper motors are mainly used in robots instead of AC motors because they can a. Be electronically controlled b. Be operated by electric pulses c. Withstand large overloads d. Run at varying speed Answer c. Withstand large overloads 12. Any solid object has a maximum _______degrees of freedom. a. 3 b. 4 c. 5 ElЄcҐrøniX

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d.

6

Answer d. 6

13. Programming of a continuous path robot is normally carried out by a method called ________through. a. lead b. drive c. walk d. run Answer c. walk 14. The essential feature of a non-servo controlled robot is that a. it requires programmable logic controller b. each of its axis can move only between hardware stops c. it is small d. it is used for heavy loads Answer b. each of its axis can move only between hardware stops 15. The word “robot” was coined by a. Kondratieff b. Karel Capek c. Cyril Walter Kenward d. Jaime Licuanan Answer b. Karel Capek 16. ________robot is primaril;y used for machining processes a. Cincinatti T3 b. DEA PRAGMA c. ADEPT One d. Jolly 80 Answer a. Cincinatti T3 17. 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 Answer c. Actuator 18. The arm assembly of the robot. a. End effector b. Manipulator Macro Integrated Training and Review Center

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c. Actuator d. Controller Answer b. Manipulator 19. ________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. Controller d. Actuator Answer a. End effector 20. Refers to the movement of the base of the robot a. Actuation b. Walk c. Travel d. Precession Answer c. Travel 21. What is the other name for the axes found on the manipulator? a. appendage b. cycle time c. degrees of freedom d. actuator Answer c. degrees of freedom 22. Describes the wrist’s angular movement from the left side to the right side. a. Pitch b. Roll c. Rotation d. Yaw Answer d. Yaw 23. _______is a computer language developed in the 1950s at MIT. It is designed to manipulate lists of symbols and is well suited for working with words and phrases a. RAIL b. BASIC c. LISP d. WAVE Answer c. LISP 24. A high level programming language which was developed at the robotics research center at Stanford University. It is useful for robotics research because it can provide coordination between two arms of the robot. a. MCL ElЄcҐrøniX

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b. c. d.

AL RPL Assembly language

Answer b. AL 25. 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 Answer a. Androtext 26. It is considered as the robot’s brain. a. chain knucle b. sensor c. end effector d. controller Answer d. controller 27. 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 Answer d. teach pendant 28. It is a robot software that produces only two position motion a. pick and stop programs b. point to point programs c. continuous path programs d. positive stop programs Answer d. positive stop programs 29. A user program that has the 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 Answer b. point to point 30. What are the basic categories of industrial robot? a. fast and slow b. mechanical and electrical c. autobots and deceptions d. pick and place manipulator and intelligent robot Macro Integrated Training and Review Center

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Answer d. pick and place manipulator and intelligent robot

31. It is a robot which is capable of decision making and has memory. a. pick and place robot b. expert robot c. continuous robot d. intelligent robot Answer d. intelligent robot 32. 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 Answer a. polar structure 33. It is a robot structure wherein the body can rotate horizontally and the arm can move vertically and horizontally. a. polar structure b. pivotal c. cylindrical structure d. roborat Answer c. cylindrical structure 34. The total weight that a robot arm can carry. a. burden capacity b. payload c. gripper d. power Answer b. payload 35. Which is not the usual power source that steers the arm of the robot? a. thermionic b. hydraulic c. pneumatic d. electric Answer a. thermionic 36. 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 ElЄcҐrøniX

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d. jointed-arm and electric Answer b. articulated arm and cylindrical 37. 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 Answer d. servo 38. A limited robot sequence is__________. a. pick and place b. point to point c. continuous path d. robota Answer a. pick and place 39. The first patent for an industrial robot was developed in 1954 by_______. a. Asimov b. Maniko c. Devol d. Hitachi Answer c. Devol 40. The operational space of a robot is________. a. coordinate system b. dead zone c. degrees of freedom d. work envelope Answer c. degrees of freedom 41. The individual sections of the robot arm between the joints are_______. a. arms b. branches c. links d. axes Answer c. links 42. The control system for sport welding is__________. a. point to point b. pick and place c. continuous path d. point to multi-point

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Answer a. point to point

43. _______is a type of actuator of industrial robots that has great force capability and great holding strength when stopped. a. pneumatic b. steam c. electric d. hydraulic Answer d. hydraulic 44. __________, a professor at MIT publishes cybernetics, a book which describes the concept of communications and control in electronic, mechanical and biological systems a. Willard Polard b. Seward Babitt c. John Mauchly d. Norber Wiener Answer d. Norber Wiener 45. Stanford Research Institute (SRI) built and tested a mobile robot with vision capability is called ________. a. Unimate b. Universal automation c. Cybernetics d. Shakey Answer d. Shakey 46. 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 Answer a. T3 47. Joseph Engelberger starts Transition Robotics, later named _______, to develop service robots. a. Helpmates b. Playmates c. Classmates d. Servicemates Answer a. Helpmates

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48. The ability of a robot to produce meaningful speech output a. Speech synthesis b. Speech detection c. Speech refinement d. Speech recognition Answer a. Speech synthesis 49. 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 Answer d. Payback Period 50. Condensed human intelligence on some subject area. A human is led through the system by answering a series of questions asked by the system. a. Robot choreography b. Expert system c. Roboteer d. Knowledge system Answer b. Expert system

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