Robotics Terminology

These flashcards cover key terms and concepts discussed in the lecture on robotics and kinematics, focusing on their definitions and functions.

What is a Kinematic Link?

A resistant body or assembly of resistant body of a machine that has motion relative to other connected parts.

What are the three types of Kinematic Links?

1. Rigid link 2. Flexible link 3. Fluid link

What is a Rigid Link?

A link that does not undergo deformation while transmitting motion, e.g., crankshaft, piston.

What defines a Flexible Link?

A link that undergoes partial deformation without affecting the transfer motion, e.g., ropes, chains.

What is a Fluid Link?

A link that has fluid inside and transmits motion through pressure, e.g., hydraulic systems.

What is a Kinematic Pair?

A joint of two links or elements of a machine having relative motion between them.

What are Lower Pairs in kinematic pairs?

Pairs of links having surface or area contact, allowing sliding, turning, and screw motions.

What is the formula for Degrees of Freedom (DOF)?

DOF = 6 - No. of restraints.

What does a Rigid Body in space have?

Six Degrees of Freedom (DOF).

What is the function of an End Effector in robotics?

To perform the required task or action, similar to a human hand.

What are common types of End Effectors?

Mechanical, Vacuum, Magnetic.

What is the purpose of Sensors in robots?

To sense the environment, such as proximity, touch, and orientation.

What are Actuators in a robot?

The artificial muscles that allow movement, typically using electric motors, hydraulic, or pneumatic systems.

Define Repeatability in robotics.

The ability to perform the same task multiple times with the same accuracy and precision.

What does Precision refer to in robotics?

How close a robot reaches to the previously achieved points.

What is Accuracy in the context of robotics?

How close the robot reaches to a programmed point in the workspace.

What is Resolution in robotics?

The smallest movement or measurement a robot can make.