Other

Question 1

Industrial robot as defined by ISO 8373?

Answer 1

• An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications.
• Reprogrammable: whose programmed motions or auxiliary functions may be changed without physical alterations;
• Multipurpose: capable of being adapted to a different application with physical alterations;
• Physical alterations: alteration of the mechanical structure or control system except for changes of programming cassettes, ROMs, etc.
• Axis: direction used to specify the robot motion in a linear or rotary mode

Question 2

5 most common applications?

Answer 2

Material handling, painting, Welding (arc, laser, spot)

Question 3

5 Most common industries for robots?

Answer 3

Automotive, Elecrical/electronic, Metal, Plastic/chemical, food & beverage.

Question 4

Drivers for increasing the automation?

Answer 4

Shift to mass customization 
Global competitiveness
Digitalization, reaching industry 4.0
Growing consumer market
Energy efficiency technology needed
regionalized production

Question 5

5 countries with highest robot manufacturing density?

Answer 5

Korea, Singapore, Japan, Germany,, Sweden

Question 6

Absolute accuracy of industrial robot and high precision robots?

Answer 6

> 1mm, >0.2mm

Question 7

Reasons for inaccurasies in robotics?

Answer 7

• Geometric: inaccuracies in manufacturing of parts of the robot
• Thermal: expansive properties of material used in the robot structure
• Dynamic: internal loading and structural resonance affecting the robot path
• System: improper calibration, sensor inaccuracies, drive train backlash and poorly tuned servos

Question 8

What does TCP stand for

Answer 8

Tool Centre point

Question 9

Why is force feedback the preferred solution over metrology?

Answer 9

• Metrology integrated solutions will measure an error to correct in the feedback loop; hence an error occurs in the process.
• Metrology systems risk being obscured by obstacles (workpiece or equipment) in the robot cell
• Force feedback identifies a trend that will cause the error, but can react before the error occurs.
• Force feedback adapt to flexible material in a contact scenario.
• Force feedback is integrated deeper in the control stack of the robot. Metrology feedback is on an external feedback loop with higher latency.

Question 10

Conclusions on force feedback in drilling?

Answer 10

• Eliminating forces in the plane will eliminate Skidding effects•
Eliminating torques at the TCP will eliminate normality problems
• The Feedback loop reads force data and manipulate the robot to eliminate forces and torques

Question 11

Conclusions on parallell kinematics?

Answer 11

• Parallel Kinematic Machines have a more geometry dependent kinematics compared serial robots.
• The solution begins with the determination of DOF
• Inverse kinematics is the first step as it is always easier.
• Forward kinematics can rely on numerical approximations.