Ch 4 - 5 Robotics

The _____ generation of robots evolved through the use of artificial intelligence.

A. first

B. second

C. third

D. fourth

C. Third

Three classifications of a robot's pattern of movement are pick-and-place motion, and _____ motion, continuous path motion.

A. walk-through

B. task-level

C. high-level

D. point-to-point

D. point-to-point

A(n) _____ is a device that blocks end effector movement past a certain point on the axis.

A. compiler

B. end stop

C. manual rate control box

D. subroutine

B. end stop

Using a great number of points in _____ motion creates movement that is smooth and continuous.

A. pick-and-place

B. point-to-point

C. continuous-path

D. walk-through

C. continuous-path

In _____ programming, an operator adjusts end stops, switches, cams, wires, and hoses to set up the sequence of robot motion.

A. manual

B. teach pendant

C. walk-through

D. on-line

A. manual

Which programming method allows a robot to remain in operation while a new program is written and debugged?

A. Teach pendant programming

B. Walk-through programming

C. Manual programming

D. Computer programming

D. Computer programming

The first robot programming language was known as ______.

A. AML

B. WAVE

C. BASIC

D. Pascal

B. WAVE

Programming languages that closely resemble standard English are ____ languages.

A. task-level

B. high-level

C. sensory

D. operational

B. high-level

A ____ is a set of instructions within a program that has a beginning and an end.

A. menu

B. comment line

C. subroutine

D. code

C. subroutine

In ____ programming, each level accepts commands from the level above and generates simplified commands for the level below.

A. hierarchical control

B. off-line

C. walk-through

D. task-level

A. hierarchical control

In _____ programming, the user specifies the goals of each task rather than the motions required to achieve the goal.

A. hierarchical control

B. on-line

C. manual

D. task-level

D. task-level

A(n) _____ system uses recognizable words as a form of audio data entry.

A. off-line

B. voice recognition

C. manual programming

D. None of the above.

B. voice recognition

The first generation of industrial robots was controlled by means of programming languages.

True or False?

False

Manual programming does not require an operator skilled in the use of computers.

True or False?

True

In continuous-path motion, an operator leads the robot through the various positions involved in an operation.

True or False?

False

In teach pendant programming, an operator adjusts end stops, switches, and hoses to set up the motion sequence.

True or False?

False

Walk-through programming is used for continuous-path robots.

True or False?

True

Off-line programming is performed using a computer that is not connected to the robot.

True or False?

True

A manual rate control box translates high-level languages into machine code.

True or False?

False

Hierarchical control systems use sensory feedback to affect how the robot responds.

True or False?

True

Using task-level programming, instructions are entered using menu-selected statements.

True or False?

True

The _____ generation of robots were the first used in industry.

second

_____ is the science and engineering of making machines perform operations commonly associated with intelligent human behavior.

Artificial intelligence

Robots receive information about their surroundings from _____ devices in the system.

sensing

With _____ motion, the end effector follows a fixed pattern of movement and allows for two positions per axis.

pick-and-place

The path of motion for _____ robots is a series of straight lines between hundreds of possible programmed points to position the end effector at the correct spot.

point-to-point

With _____ motion, control of the end effector's path is more important than the end point positioning.

continuous-path

In _____ programming, recorded points are used to generate a point-to-point path the robot follows during operation.

teach pendant

Using _____ programming, the person programming the robot must be highly skilled in the precise motion required by the task.

walk-through

Creating the instructions for a robot on a computer that is connected to the robot console is called _____ programming.

on-line

A(n) _____ is a set of instructions within a program.

subroutine

A(n) _____ program translates high-level languages into machine code.

compiler

Each programming language defines the number of _____ allowed for a program name and the use of special characters.

characters

In hierarchical control programming, _____ are structured in levels.

commands

The _____ level in hierarchical control programming receives commands for elemental moves.

third

_____ programming systems offer interactive screens that create, teach, debug, and run application programs.

Task-level

Explain how robots with point-to-point controllers are programmed.

Programmer uses a combination of manipulator axes to position the end effector at a correct spot. Positions are recorded and stored in memory.

What are the benefits of using task-level programming?

Highly efficient method that replaces lines of programming code with smaller number of statements selected from menus.

Stream lines the process.

Does not require programmer to know the motions.

Describe the function at each level of hierarchical control programming.

First - servo control functions - drive signal to each joint

Second - primitive operations - joint position

Third - elemental moves - move command (X,Y,Z)

What is the first level of hierarchical control programming?

servo control functions - drive signal to each joint

What is the second level of hierarchical control programming?

primitive operations - joint position

What is the second level of hierarchical control programming?

elemental moves - move command (X,Y,Z)

Discuss the applications of voice recognition.

Reduce set-up time

Robots with two-way communication

Telephone answering systems

What type of programming method is used for: Only two positions are programmed for each axis?

Manual programming

What type of programming method is used for: Programming away from the robot?

Off-line programming

What type of programming method is used for: Each level generates simplified commands?

Hierarchical control programming

What type of programming method is used for: The goals of an operation are specified, instead of points in the process?

Task-level programming

What type of programming method is used for: Thousands of points may be recorded for fluid movement?

Walk-through programming

What type of programming method is used for: A type of machine setup process?

Manual programming

What type of programming method is used for: An operator leads the robot through an operation and records desired points into memory?

Teach pendant programming

What type of programming method is used for: Programming at the robot's console?

On-line programming

What type of programming method is used for: Sensory feedback affects robot operation?

Hierarchical control programming

Product planning that considers the robots that will assemble a product is ____.

A. production planning

B. repeatability

C. dynamic performance

D. designing for manufacturability

D. designing for manufacturability

The relationship of the ____ to work fixtures must be taken into account when designing a workstation.

A. end effector

B. control panel

C. power supply

D. interlocks

A. end effector

Greater flexibility may be achieved by mounting a robot on the ________ within the work envelope, instead of the floor.

A. wall

B. ceiling

C. conveyor system

D. Both A and B.

D. Both A and B.

The work envelope is defined by the type of joints a robot is equipped with and its ____.

A. end effectors

B. degrees of freedom

C. axes

D. controllers

B. degrees of freedom

The six possible degrees of freedom can be broken into two categories: body and ____.

A. wrist

B. elbow

C. waist

D. arm

A. wrist

The smallest incremental movement a robot can make is called ___.

A. accuracy

B. dynamic performance

C. resolution

D. repeatability

C. resolution

The accuracy of movement of a robot's tool tip is described in terms of _____.

A. command resolution

B. repeatability

C. spatial resolution

D. dynamic performance

C. spatial resolution

The ____ is how precisely the end effector is programmed to reach a predetermined point.

A. command resolution

B. operational speed

C. repeatability

D. accuracy

D. accuracy

The variation in movement that occurs when an action or task is performed several times is described as ____.

A. repeatability

B. command resolution

C. accuracy

D. operational speed

A. repeatability

The ____ of a robot describes how fast it can accelerate, decelerate, and come to a stop at a given point.

A. resolution

B. operational speed

C. dynamic performance

D. Both B and C.

D. Both B and C.

The maximum weight of material a robot is capable of handling on a continuous basis is the _____.

A. dynamic performance

B. payload

C. command resolution

D. spatial resolution

B. payload

A robot's ability to provide precise points in the process of accurately locating parts is described as

A. fixturing

B. accuracy

C. spatial resolution

D. operational speed

A. fixturing

Robots used for ____ are generally small and designed to move small parts accurately at high speeds.

A. machining processes

B. spraying operations

C. assembly work

D. die casting

C. assembly work

Automated guided vehicles use a ___ for navigation.

A. buried wire guidepath

B. magnetic tape guidepath

C. global positioning system

D. All of the above.

D. All of the above.

____ robots are mobile and can move to a work area to perform necessary tasks.

A. Service

B. Pick-and-place

C. Inspection

D. Loading and unloading

A. Service

Minimizing the number of parts required for a product makes assembly more complex.

True or False?

False

Plans to provide a safe working environment are considered only after a robotic system is designed and installed.

True or False?

False

Workstation design should place control panels outside the robot's work envelope.

True or False?

True

Robots with six degrees of freedom can work anywhere within the work envelope.

True or False?

True

Resolution expresses how precisely a robot's hand is programmed to reach a predetermined point.

True or False?

False

As speed increases, accuracy decreases.

True or False?

True

A robot's load-handling capacity is reduced when its boom is fully extended, compared to when the boom is retracted.

True or False?

True

Injection molding is an example of a pick-and-place operation.

True or False?

False

It is easier to correct issues with inaccuracies than issues with repeatability.

True or False?

True

Continuous-path programming must be used for robotic spray operations.

True or False?

True

Service robots are mobile and can move to the work area to perform the necessary tasks.

True or False?

True

Force-sensing equipment can identify contact with a workpiece and adjust tools for constant pressure.

True or False?

True

Engineering products with the robots that will assemble them in mind is called _____.

design for manufacturability

An automated device that is designed to perform only one function is _____.

dedicated equipment

Safety devices that prevent unauthorized access to hazardous areas are _____.

interlocks

The _____ is different for each robot configuration and is defined by its type of joints and degrees of freedom.

work envelope

The closest distance between movements of a robot is _____.

command resolution

Spatial resolution takes into account command resolution and _____.

mechanical inaccuracy

The two most important factors that influence operational speed are the desired accuracy and the _____.

payload

In _____ operations, robots remove and quench casted metal parts.

die-casting

Robots used for spot welding typically have _____ or more axes of motion, which allow them to approach the weld at any angle.

six

Robots used in machining processes have a high degree of _____.

repeatability

Robotic inspection systems consist of two subsystems: one accumulates data and the other _____ data and presents it in a meaningful way.

analyzes

What is the calculation for command resolution?

Dividing the travel distance of each joint by the number of control increments

What factors affect the operational speed of a robot?

desired accuracy and the payload

Explain how service robots differ from other industrial robots.

Service robots are mobile units that can move to a work area to perform the necessary tasks.

Which robot axis corresponds with: Up and down motion?

Elbow

Which robot axis corresponds with: Movement about a vertical axis?

Waist

Which robot axis corresponds with: Side-to-side movement of the wrist?

Yaw

Which robot axis corresponds with: Rotation of the wrist?

Roll

Which robot axis corresponds with: Extension and retraction of the arm?

Shoulder

Which robot axis corresponds with: Radial traverse?

Shoulder

Which robot axis corresponds with: Up and down movement of the wrist?

Pitch