Chapter 1 - Fundamentals Flashcards
What is a robot?
A reprogrammable multifunction manipulator that can move material, parts or tools through variable programmed motions.
What are the major components of a robot?
The manipulator, controller and power supply.
What are the different robot configurations?
Cartesian, cylindrical, spherical, jointed-arm, Also SCARA.
What is a manipulator?
A series of mechanical linkages and joints capable of movement in various directions to perform the work of a robot. Most common are robot arms.
What is an actuator?
An electronic transducer that powers the robot manipulator by converting electrical energy into a physical quantity.
What is a hydraulic actuator?
An actuator powered by liquid under pressure
What is a pneumatic actuator?
An actuator powered by air pressure
What are feedback devices?
Sensory devices that sense the position of various linkages and joints and transmits that info to the controller
Limit switches?
Switch activated by the robot by depressing its protruding arm. Discrete signal (on/off)
Encoders and Potentiometers?
Device used to convert linear or angular rotation into digital information.
Resolvers?
Encoder system that converts rotatory or linear motion into angular positional data
Controller?
Initiates and terminates the motion of the manipulator with interfaces with its control valves and feedback devices. Can perform complex arithmetic functions and interface with the outside world.
Power supply?
Provide energy to the manipulators actuators
Interfacing?
An electrical circuit that enables communication between the CPU and I/O devices capable of transmitting and receiving information.
Branching interface?
A logic path that runs parallel with a user program. Ex. Subroutines, abort branch, utility branch
