Chapter 1

Question 1

Term: Definition of a robot

Answer 1

A robot is a machine that is programmable and capable of movement or action, often mimicking human or animal behavior

Question 2

Term: Basic components of a robot

Answer 2

• Manipulator arm: the robot’s arm, which can move in various directions and usually has several joints
• End-effector: the robot’s tool, which can grip, manipulate, or perform tasks
• Sensors: devices that detect and measure physical variables, such as light, temperature, or pressure
• Actuators: devices that control the movement or operation of the robot, such as motors or pneumatic systems

Question 3

Term: Forward kinematics

Answer 3

A mathematical technique that allows the robot’s end-effector position and orientation to be calculated based on the joint angles and robot geometry

Question 4

Term: Inverse kinematics

Answer 4

A mathematical technique that allows the robot’s joint angles to be calculated based on the desired end-effector position and orientation

Question 5

Term: Trajectory planning

Answer 5

The process of generating a path or motion for the robot to follow in order to complete a task

Question 6

Term: Workspace

Answer 6

The range of positions and orientations that the robot’s end-effector can reach

Question 7

Term: Accuracy

Answer 7

The degree of closeness between the actual position or performance of the robot and the desired position or performance

Question 8

Term: Repeatability

Answer 8

The ability of the robot to repeatedly perform a task with consistent accuracy

Question 9

Term: Resolution

Answer 9

The smallest increment or step that the robot can move or measure, often related to joint or end-effector positioning

Question 10

Term: Classification of robots

Answer 10

Three common types of robots based on mechanical structure are: Cartesian, Cylindrical, and Articulated robots

• Cartesian robots: Have three linear axes of motion for precise, straight movements.
• Cylindrical robots: Have one rotary axis and two linear axes for circular or semi-circular movements.
• Articulated robots: Have a series of rotary joints for flexible, multi-directional movements.

Question 11

Term: Cartesian robots:

Answer 11

Cartesian robots: These robots have three linear axes of motion that move in a rectangular, Cartesian coordinate system. They can move in straight lines and are useful for applications that require precise, straight movements.

Question 12

Term: Cylindrical robots:

Answer 12

Cylindrical robots: These robots have one rotary axis and two linear axes that move in a cylindrical coordinate system. They can move in arcs or circular paths, and are useful for applications that require movements in a circular or semi-circular motion.

Question 13

Term: Articulated robots:

Answer 13

Articulated robots: These robots have a series of rotary joints that provide flexibility and a wide range of motion. They can move in a variety of directions and are useful for applications that require complex or multi-directional movements. They are often used in manufacturing, assembly, and other industrial applications.

Question 14

Term: Redundant manipulators

Answer 14

Robots with more than the minimum number of joints needed for a task, which can provide additional flexibility or redundancy in task completion