Robotics
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34 Terms
What is a robot
Why use robots?
Manual labour/Hard/Soft Automation - cost effectiveness
Manual labour + soft automation = collaborative robots
Main components and structure of industrial robot - Actuators and joints, arm and manipulators, wrist, end effector
Arm/manipulator is everything from base to wrist.
Each joint has actuator.
Work envelope - everywhere the robot can reach.
Configuration
Types of joints - revolute and prismatic
Actuators
End effectors
Sensor systems
Motion control method
point to point
continuous path
Work envelope is determined by configuration
robot specification
Number of axis-major/minor
degrees of freedom
Degrees of freedom example: 2D space
Degrees of freedom example: 3D space
DOF - robots
Calculating DOF -2D
Calculating DOF -3D
Reach and stroke
Reapeatability, precision, accuracy
More on the precision/accuracy
Capacity and speed
Motivation for coordination transformations
Find the formula that relates tool coordinates to the base coordinates
2D geometry
