ENGT 2020 – Robotics Fundamentals : Ch 4 - 6

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

task-level

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

computer programming

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

task-level

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

computer programming

true or false : Manual programming does not require an operator skilled in the use of computers.

true

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

true

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

false

true or false : A manual rate control box translates high-level languages into machine code.

false

true or false : The first generation of industrial robots was controlled by means of programming languages.

false

true or false : Walk-through programming is used for continuous-path robots.

true

true or false : Using task-level programming, instructions are entered using menu-selected statements.

true

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

point-to-point

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

third

true or false : Hierarchical control systems use sensory feedback to affect how the robot responds.

true

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

hierarchal control

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

manual

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

subroutine

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

pick-and-place

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

third

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

online

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

continuous path

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

compiler

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

sensing

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

artificial intelligence

In hierarchical control programming, ______________________________ are structured in levels.

commands

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

walk through

Thousands of points may be recorded for fluid movement.

walk through programming

An operator leads the robot through an operation and records desired points into memory.

teach pendant programming

Only two positions are programmed for each axis.

manual programming

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

designing for manufacturability

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

payload

The closest distance between movements of a robot is ______________________________.

command resolution

true or false : Work station design should place control panels outside the robot’s work envelope.

true

true or false : Minimizing the number of parts required for a product makes assembly more complex.

false

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

degrees of freedom

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

resolution

true or false : Resolution expresses how precisely a robot’s hand is programmed to reach a predetermined point.

false

true or false : Service robots are mobile and can move to the work area to perform the necessary tasks.

true

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

end effector

true or false : As speed increases, accuracy decreases.

true

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

accuracy

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

false

Automated guided vehicles (AGVs) use a ____ for navigation.

buried wire guide path, magnetic tape guide path, and global positioning system

true or false : Robots with six degrees of freedom can work anywhere within the work envelope.

true

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

wall and/or ceiling

The accuracy of movement of a robot’s tool tip is described in terms of ____.

spatial resolution

rotation of the wrist

roll

movement of the vertical axis

waist

up and down movement of the wrist

pitch

extension and retraction of the arm

shoulder

up and down motion

elbow

side to side movement of the wrist

yaw

Machines that change the position or speed of a mechanical object.

servo systems

Signal a response to a particular form of energy.

sensing systems

Numeric instructions are changed into a series of on/off electrical signals.

digital systems

The combination of multiple subsystems.

synthesized systems

Ensure that all actions of an operation occur at a precisely defined interval.

timing systems

Continually at work making adjustments that alter machine operation.

control systems

Produce some form of mechanical motion.

mechanical systems

As the mechanical load on a dc motor increases, the motor speed ____.

decreases

true or false : Timing systems convert electrical energy into mechanical motion.

false

The ____ compares the feedback signal from the controlled element to a reference signal or standard.

comparator

In electrical systems, a ____ system signals a response to a particular form of energy.

sensing

A ____ dc motor has two sets of field windings.

compound wound

The difference between the synchronous speed and the rotor speed is called ____.

slip

true or false : Examples of loads include digital meters, pressure gauges, tachometers, and thermometers.

false

DC stepping motors are primarily used to change electrical pulses into ____.

rotary motion

true or false : In a mechanical system, control is accomplished by changing pressure, direction, force, and speed.

true

In a closed-loop system, the signal or data that provides information about interaction between the control unit and the load is called ____.

feedback

true or false : The counter electromotive force flows against the voltage coming into a dc motor.

true

true or false : In bifilar construction, three separate wires are simultaneously wound into the stator coil slots.

false

____ devices operate within the transmission path and alter the flow of power.

control

true or false : The transmission path provides a channel for the transfer of energy.

true

true or false : In an electric motor, the armature is an electromagnet.

true

A(n) ____ system transfers power from one point to another through mechanical motion that is used to do work.

electromechanical

true or false : In a series-wound dc motor, the armature and field circuits are connected in a series arrangement.

true

When subsystems are combined, the result is referred to as a ____.

synthesized system

The ____ is the rotating component of a motor and includes the armature, shaft, and associated parts.

rotor

The ____ unit of an industrial robot determines its flexibility and efficiency.

control

Identify the basic parts of a dc motor : field pole, stator, mounting, brush commutator assembly, and rotor

field pole : A

stator : C

mounting : E

brush commutator assembly : D

rotor : B

______________________________ occurs when energy is transformed into mechanical motion, light, heat, chemical action, or sound.

work

As the armature of a dc motor rotates, it generates its own voltage called ______________________________.

counter electromotive force

Changes in the field current result in corresponding changes in the ______________________________ of the electromagnetic field.

flux

______________________________ timing systems may include both interval and delay timing to provide energizing action in an operational sequence.

cycle

The ______________________________ receives data from both the input source and the output device, and determines if a correction signal should be sent to the actuator.

error detector

Flexible, fiber-optic rods that transfer light energy from its source to distant locations are called ______________________________.

light pipes

The ______________________________ rating of a motor represents the power of the motor.

horsepower

In a mechanical system, ______________________________ measure physical quantities, such as pressure, speed, and force.

indicators

A(n) ______________________________ motor is the only dc motor that can also be operated using ac power.

universal